Calculation method and device for joint external force moment and robot

Abstract

The embodiment of the invention provides a calculation method and device for joint external force moment and a robot. Joints of the robot are provided with motors and tilt angle sensors. The method comprises the steps that current data of the joint to be processed is acquired, wherein the current data comprises the angular speed and the temperature of the joint to be processed; and the current data is input to a preset friction force moment formula, and through calculation, the friction force moment of the joint to processed is obtained. The joints of the robot are further provided with the tilt angle sensors. The method further comprises the steps that the posture information of current installation of the robot is determined through the tilt angle sensor installed on the joint to be processed, and the gravity moment corresponding to the joint to be processed is calculated according to the posture information. By applying the calculation method and device for the joint external force moment and the robot, the friction force moment and the gravity moment corresponding to the joints of the robot can be accurately calculated, and it can be guaranteed that an operator can successfully complete dragging teaching of the robot.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a calculation method and device for joint external moments, and a robot. Background technique [0002] With the rapid development of robot technology, the application of robot technology in industrial production is becoming more and more extensive. Among them, robot teaching technology is an important link in the promotion of robot technology. At present, the teaching method of a robot is widely used, which is a teaching method of dragging. Specifically, teaching by dragging means that an operator performs a teaching and programming work on a robot by manually dragging. Because the joints of the robot will be affected by external forces such as gravity and friction, it is very difficult for the operator to drag the robot or to drag the robot. In this way, it is necessary to calculate the external force moments such as the gravitational moment and the frictional moment at the joi...

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Problems solved by technology

[0003] However, the existing friction moment is a fixed value, and the influence of joint angular velocity and temperature on the friction force is not considered, which makes the friction moment used to calculate the external force moment inaccurate, resulting in a relatively large error between the compensation torque and the actual external force moment received by the joint. Large, which leads to the operator needing a lot of effort to drag the robot, which not only affects the teaching results of the robot, but also brings bad user experience to the operator

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