Zero-force control method of mechanical arm facing direct demonstration

A technology of zero-force control and manipulators, which is applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of low space freedom applicability, low control accuracy, and low flexibility of direct teaching, so as to improve flexibility performance, small amount of calculation, and effect of reducing impact

Inactive Publication Date: 2018-09-28
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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Problems solved by technology

[0013] For this reason, the present invention proposes a direct teaching-oriented zero-force control method of the mechanical arm to solve the problems of low control accuracy, low applicability of spatial degrees of freedom and flexibility of direct teaching in the above-mentioned robot zero-force control scheme. low problem

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  • Zero-force control method of mechanical arm facing direct demonstration
  • Zero-force control method of mechanical arm facing direct demonstration
  • Zero-force control method of mechanical arm facing direct demonstration

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Embodiment Construction

[0068] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0069] A specific embodiment of the present invention provides a zero-force control method of a mechanical arm for direct teaching, including the following steps S1 to S3:

[0070] Step S1, establishing a dynamic model of an n-degree-of-freedom manipulator with n flexible joints. This step specifically includes:

[0071] First, the mathematical model of a single flexible joint is established, as shown in equation (1):

[0072]

[0073] refer to Figure 4 , the flexible components such as the harmonic reducer and the torque sensor in the single flexible joint can be regarded as a spring with a stiffness coefficient K, M represents the moment of inertia of the next link connected to the flexible joint and the load, and J represents the flexible joint Moment of inertia of the motor rotor, motor input torque T m Let the motor rotor rotate at...

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Abstract

The invention discloses a zero-force control method of a mechanical arm facing the direct demonstration. The zero-force control method of the mechanical arm facing the direct demonstration comprises the steps of S1, building an n-degree-of-freedom mechanical arm dynamic model with n flexible joints; S2, building a controller of the mechanical arm, wherein the controller is used for carrying out gravity compensation and reducing the influences of an inertia force and a friction force on the flexible joints; and S3, identifying a gravity term in the controller. According to the control method provided by the invention, not only can the gravity of the mechanical arm be compensated, but also the influences of inertia forces and friction forces of the joints can be reduced, and the method is simple, less in calculation amount, and convenient to implement.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a zero-force control method of a mechanical arm oriented to direct teaching. Background technique [0002] With the development of robot technology, robots are playing an increasingly important role in social production and life services. In some fields, robots have been able to replace humans in some heavy, repetitive, and dangerous activities, thereby accelerating the automation process. In recent years, the domestic demand for industrial robots has also shown a rapid growth trend. Under the background of "Industry 4.0" and "Made in China 2025", in order to adapt to the fast-changing characteristics of modern industry and meet the growing complexity requirements, robots Not only must it be able to complete repetitive tasks stably for a long time, but it must also be intelligent, networked, open, and human-machine friendly. [0003] However, most of the current industria...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1605
Inventor 刘厚德董伉伉朱晓俊陆伟峰王学谦梁斌阮见刘思成
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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