Joint force control platform device, joint force control method and related device

Abstract

The invention relates to the field of machinery, and particularly discloses a joint force control platform device. The joint force control platform device comprises an installation seat, a power unitlocated on the installation seat, a connection rod connected with the output end of the power unit, a joint torque sensor which is located between the power unit and the connection rod and used for measuring the torque of the output end of the power unit, and a control unit which is used for controlling working of the power unit according to detection information of the joint torque sensor. The control unit is used for carrying out corresponding operation when the detection information of the joint torque sensor exceeds the preset threshold value. According to the joint force control platformdevice, the joint torque sensor is directly connected with the connection rod, the conditions of force applied to all corners of a robot can be detected accurately in time, the collision preventing function of the robot is achieved, and human and robot cooperation is finally realized. Meanwhile, the invention further provides a joint force control method and a manipulator.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a joint force control platform device, method and related devices. Background technique [0002] Industrial robots have been widely used in manufacturing fields such as handling, assembly, and grinding. Their common characteristics are large size, repetitive and single working mode, and disadvantages such as high energy consumption and difficult installation. Moreover, the traditional industrial robot technology is relatively mature, and its application is relatively fixed. It can only do some repetitive work in the fence, and cannot further contact with humans. With the advancement of technology and the development of society, it is inevitable that robots and humans have a common workspace, and even work together with humans to complete more complex application tasks. In the process of cooperation between robots and humans, if a collision occurs, the primary job is to ensure the safety o...

AI Technical Summary

Problems solved by technology

[0003] At present, most of the force control of the robot is obtained by installing a six-dimensional force sensor at the end of the robot. This control method is simple to implement, but the six-dimensional force sensor is often expensive, which limits the promotion of applications.

On the other hand, the six-dimensional force sensor is installed at the end of the robot, which determines that this robot can only achieve force control at the end of the robot

That is, at each joint of the robot, the robot cannot realize the force control of the robot

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