Dragging demonstration system and method

A technology of dragging and teaching, which is applied in the general control system, control/regulation system, comprehensive factory control, etc., can solve the problems of high knowledge level requirements for operators, cumbersome and unintuitive processes, and low work efficiency, and achieve The effect of simple system, flexible teaching and low cost

Active Publication Date: 2018-11-20
SHANGHAI JIEKA ROBOT TECH CO LTD
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Problems solved by technology

The traditional teaching method mainly relies on the teaching device, and this teaching method has the characteristics of low work efficiency, cumbersome and unintuitive process, and requires high knowledge level of operators

Method used

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  • Dragging demonstration system and method
  • Dragging demonstration system and method

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Embodiment Construction

[0047] Embodiments embodying the features and advantages of the present invention will be described in detail in the following description. It should be understood that the invention can have various changes in different examples without departing from the scope of the invention, and that the descriptions and illustrations therein are illustrative in nature rather than limiting the invention.

[0048] The embodiment of the invention discloses a drag teaching system, which is suitable for robots, such as figure 1 As shown, the drag teaching system includes: a model identification module, which establishes the static model of the robot, and identifies the model parameters, where the static model includes a gravity model and a Coulomb friction model; The model parameters obtained are sent to the current loop of the motor of each joint of the robot in a feed-forward manner; the data recording module records the position information of each joint of the robot, and is used for the r...

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Abstract

The invention discloses a dragging demonstration system and a dragging demonstration method. The dragging demonstration system comprises a model identifying module, a feedforward compensation module and a data recording module, wherein the model identification module is used for building a static model of a robot and identifying model parameters, wherein the static model comprises a gravity modeland a Coulomb friction force model; the feedforward compensation module is used for conveying the identified model parameters to a current ring of each joint motor of the robot in a feedforward way according to the identified model parameters; and the data recording module is used for recording the position information of each joint of the robot so that the robot can repeat the demonstration action. The dragging demonstration system disclosed by the invention can make a user push the robot quite easily to implement dragging demonstration.

Description

technical field [0001] The invention relates to the technical field of industrial robot control, in particular to a drag teaching system and method. Background technique [0002] Drag teaching, also known as direct teaching or manual teaching, is one of the main methods of human-machine collaboration, that is, people directly complete the teaching and programming work of robots by manually dragging. The traditional teaching method mainly relies on the teaching pendant, and this teaching method has the characteristics of low work efficiency, cumbersome and unintuitive process, and requires high knowledge level of operators. The method of dragging and teaching is more intuitive, and the requirements for on-site operators are greatly reduced. Contents of the invention [0003] The purpose of the present invention is to provide a drag teaching system and method, which can enable the user to easily push up the robot to complete the drag teaching. [0004] In order to achieve ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1653G05B19/423G05B2219/39181G05B2219/41156G05B2219/41448G05B2219/43022Y02P90/02G05B17/02G05B2219/50391
Inventor 朱向阳李明洋王家鹏吴建华韩勇
Owner SHANGHAI JIEKA ROBOT TECH CO LTD
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