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Mechanical arm zero force control experimental system facing direct demonstration

A zero-force control and robotic arm technology, applied in the field of robotic arm zero-force control experimental systems, can solve the problems of low flexibility of direct teaching, slow response speed, and low control accuracy, and improve real-time performance and teaching response. The effect of speed, control accuracy improvement, and stability improvement

Active Publication Date: 2018-10-16
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0011] For this reason, the present invention proposes a direct teaching-oriented mechanical arm zero-force control experimental system to solve the existing zero-force control system's low control accuracy, low spatial freedom applicability, and flexible direct teaching Problems of low performance, low real-time performance, and slow response speed

Method used

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  • Mechanical arm zero force control experimental system facing direct demonstration
  • Mechanical arm zero force control experimental system facing direct demonstration
  • Mechanical arm zero force control experimental system facing direct demonstration

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Embodiment Construction

[0021] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0022] The specific embodiment of the present invention provides a zero-force control experimental system of a mechanical arm for direct teaching, refer to figure 1 , the system includes an n-degree-of-freedom mechanical arm 100 with n flexible joints and a main controller 200, each flexible joint of the mechanical arm 100 is equipped with a sensor acquisition circuit and a joint controller, each of the joint controllers is connected via a bus communication with the main controller; the sensor acquisition circuit includes a joint speed sensor, a joint position sensor and a joint torque sensor, which respectively collect the speed information, position information and torque information of the flexible joint and send them to the main controller through the main controller to perform zero-force control, obtain the compensation torque value of eac...

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Abstract

The invention discloses a mechanical arm zero force control experimental system facing direct demonstration. The system comprises a n-degree-of-freedom mechanical arm with n flexible joints, and a main controller; each flexible joint of the mechanical arm is provided with a sensor acquiring circuit and a joint controller; each joint controller communicates with the main controller through a bus mode; each sensor acquiring circuit comprises a joint speed sensor, a joint position sensor and a joint torque sensor for respectively acquiring speed information, position information and torque information of each flexible joint and sending to the main controller; the main controller performs the zero force control to obtain each joint compensation torque value needing compensation and to return to each joint controller; and through a torque-speed loop control algorithm in each joint controller, the received compensation torque values are converted to corresponding joint speeds for joint control.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a direct-teaching-oriented mechanical arm zero-force control experimental system. 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 indu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1633B25J9/1651
Inventor 刘厚德董伉伉朱晓俊陆伟峰梁斌王学谦阮见刘思成
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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