An Experimental System of Zero Force Control of Manipulator Oriented to Direct Teaching

A technology of zero-force control and manipulator, which is applied in the field of manipulator zero-force control experiment system, can solve the problems of low flexibility, slow response speed and low control precision of direct teaching, so as to improve real-time performance and teaching response Increased speed, control accuracy, and improved stability

Active Publication Date: 2022-02-25
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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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

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  • An Experimental System of Zero Force Control of Manipulator Oriented to Direct Teaching
  • An Experimental System of Zero Force Control of Manipulator Oriented to Direct Teaching
  • An Experimental System of Zero Force Control of Manipulator Oriented to Direct Teaching

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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 direct teaching-oriented robotic arm zero-force control experiment system, comprising an n-degree-of-freedom robotic arm with n flexible joints and a main controller, each flexible joint of the robotic arm is equipped with a sensor acquisition circuit and joint controllers, each joint controller communicates with the main controller through a bus; the sensor acquisition circuit includes a joint speed sensor, a joint position sensor and a joint torque sensor, which respectively collect the speed information of the flexible joints , position information and torque information are sent to the main controller, so that zero-force control is performed by the main controller, and the compensation torque value of each joint to be compensated is obtained and fed back to each joint controller. The torque-speed loop control algorithm inside the controller converts the received compensation torque value into the corresponding joint speed 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 Patents(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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