Robot floating control method, device and system

Abstract

The invention provides a robot floating control method, device and system. A robot body comprises a plurality of motors used for realizing motions of the robot body, a robot controller performs kinematics calculation and trajectory planning on movement of a robot, movement commands are sent to motor drivers through a control bus, the motor drivers control the motors to operate, movement control ofjoints is realized, by means of encoders between the motor drivers and the robot body, the position information and electric current information of the motors are read and the torque of motors is calculated, the robot controller calculates the outside force and performs control according to a force level hybrid control structure, a force closed loop and a position closed loop are switched by selecting matrices, the robot controller performs control by switching matrix selection to a force control mode when performing floating control, the robot body and the outside force are detected by detecting the position, electric current and other information of the motors, and floating control of the industrial robot is realized on the basis of not reducing the robot joint stiffness and not increasing the system cost.

Description

technical field [0001] The invention relates to the field of automatic control, in particular to a robot floating control method, device and system. Background technique [0002] In some industrial processing fields, robots are often involved in the process of injection molding and pressing of tools. At this time, industrial robots are often required to move smoothly with the deformation of the workpiece. This technology is called "floating control technology", which belongs to force A kind of control. [0003] Early industrial robot force control generally used six-dimensional force / torque sensors. This sensing method has high force control force detection accuracy and simple control methods, and is suitable for robot assembly, grinding and other applications. However, due to the high price of the six-dimensional force / torque sensor, its application is limited. In recent years, with the advancement of technology, the force control method using the joint torque sensor has ...

AI Technical Summary

Problems solved by technology

[0004] Due to the flexibility of the joint transmission mechanism itself, the installation of the joint torque sensor increases the flexibility of the joint. When the robot performs motion control, the increase in flexibility reduces the control accuracy of the joint position of the robot, which in turn affects the position control accuracy of the entire robot. Cannot effectively follow a given trajectory, causing a significant drop in robot performance

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