Torque control method of industrial robot

An industrial robot and control method technology, applied in program control, general control system, control/regulation system, etc., can solve the problems of low safety, inability to avoid obstacles effectively, and low control accuracy, and achieve the effect of high safety

Active Publication Date: 2017-09-15
ZHEJIANG UNIV OF TECH
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AI Technical Summary

Problems solved by technology

[0003] In order to overcome the shortcomings of the existing industrial robot trajectory planning method, such as low control precision, inability to effectively avoid obstacles, and low safety, the present invention provides an industrial robot with high control precision, effective obstacle avoidance, and high safety torque control method

Method used

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  • Torque control method of industrial robot
  • Torque control method of industrial robot
  • Torque control method of industrial robot

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Embodiment Construction

[0049] The present invention will be further described below in conjunction with the accompanying drawings.

[0050] refer to figure 1 and figure 2, a torque control method for an industrial robot. First, an accurate robot dynamics model is established by identifying the kinematics and inertia parameters of each joint; then, the displacement of each joint angle when moving to the terminal posture is obtained by solving the inverse kinematics; finally, Taking the joint angular displacement as the motion distance, a sinusoidal jerk planning method is used to plan the velocity acceleration of each joint. The control torque in the motion path can be solved by substituting the velocity and acceleration into the dynamic model. The torque control method includes the following steps:

[0051] Step 1: Identification of dynamic parameters of industrial robots

[0052] The present invention adopts the overall identification method of testing the whole robot to identify the dynamic p...

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Abstract

Provided is a torque control method of an industrial robot. The method includes the steps that a dynamic model of the robot is established through identifying kinematical and inertial parameters of each joint; displacement of each joint angle when each joint moves to a terminal point posture state is solved to obtain through inverse kinematics; and the displacement of each joint angle serves as a movement distance, velocity-acceleration planning of each joint is conducted by adopting a sine plus acceleration planning method, and the control torque in the movement path can be solved to obtain by substituting the speed and the acceleration into the dynamic model. The torque control method of the industrial robot is high in control accuracy, can effectively achieve obstacle avoidance and has high safety.

Description

technical field [0001] The invention relates to a trajectory planning method for an industrial robot, in particular to a torque control method for an industrial robot. Background technique [0002] In the past ten years, the manufacturing and control technology of industrial robots has developed rapidly, and has been widely used in the automobile manufacturing industry and can achieve high control accuracy. With the increase of labor costs in our country, the level of automated production in various industries urgently needs to be improved under the requirements of "machine substitution" and industrial upgrading. The application of industrial robots can avoid repetitive and tedious manual labor and achieve high stability and high precision production, thereby greatly improving work efficiency. Most of the path and trajectory planning for a single robot can be completed through manual teaching, so more and more factories use programmable industrial robots to replace the labo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1607B25J9/1633B25J9/1666G05B2219/40519
Inventor 胥芳王佳才陈教料张立彬鲍官军
Owner ZHEJIANG UNIV OF TECH
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