Industrial robot dragging teaching method without adopting torque sensor

Abstract

The invention provides an industrial robot dragging teaching method without adopting a torque sensor. The method comprises the steps that a joint inverse dynamic model is adopted for joint moment compensation, so that a joint is controlled to be in a near-zero force balanced control state; according to a jitter control principle, feedforward is controlled through drive jitter within a dead zone of friction force, so that the joint is in an activated state, velocity integral grain of a universal control system adopting serial PID control is one order of magnitudes that of a system adopting normal control, and the controller velocity integral gain is increased to improve the dynamic response of the control system in the dead zone of the friction force; a slope dynamic compensation method is adopted for compensating coulomb friction; and a dragging teaching technology is achieved in a universal position control mode, so that switching of a control mode of a driver is avoided. According to the dragging teaching method adopted in the invention, the torque sensor is not needed, and the cost is low.

Description

Technical field [0001] The invention relates to the technical field of industrial robots, in particular to a drag teaching method of an industrial robot without a torque sensor. Background technique [0002] At present, the application fields of industrial robots are gradually expanding from industries such as automobiles, electronic appliances, and machinery to other application fields. In more and more application tasks, especially application scenarios with short product line replacement cycles, the application of robots is flexible and rapid deployment. Sex puts forward higher requirements. In the traditional application field, the robot application task teaching link occupies a lot of deployment time, and traditional industrial robots use teaching box on-site teaching or offline programming teaching methods, which require operators to have high professional skills for robot applications. Bring a certain degree of difficulty. The drag teaching technology can directly hold a...

AI Technical Summary

Problems solved by technology

Although this direct teaching method can achieve better application results, it has the following disadvantages: 1) The cost of sensors is high, and it is not suitable for low-cost and small-load robots; 2) The control system needs to configure additional resources to process data; 3) The teaching is completed in Cartesian space, the joint pose cannot be freely configured, and the application is limited in environments with obstacle avoidance requirements

[0006] Although the drag teaching technology without a torque sensor is a low-cost alternative, there are still difficulties that need to be solved urgently, such as low compensation accuracy of the dynamic model, uncertainty of friction compensation in low-speed areas, difficulty in controlling precise movement in a small range, and Problems such as application configuration in general robot control system

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