Industrial robot dragging teaching method without adopting torque sensor

An industrial robot, dragging and teaching technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of high sensor cost, limited application, uncertainty of friction compensation in low-speed area, etc., and achieve smooth traction and movement. , the effect of improving accuracy and low cost
CN107097233AInactive Publication Date: 2017-08-29ROKAE SHANDONG INTELLIGENT TECH CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
ROKAE SHANDONG INTELLIGENT TECH CO LTD
Publication Date
2017-08-29
Estimated Expiration
Not applicable · inactive patent

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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.
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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...

Claims

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