Gravity compensation method and device, storage medium and robot

Abstract

The invention discloses a gravity compensation method and device, a storage medium and a robot. The method comprises the steps that model parameters and load parameters of the robot on which gravity compensation is to be carried out are obtained; according to the model parameters and the load parameters, gravity compensation current for carrying out gravity compensation on the robot is determined;before the robot is started, on the condition that a motor brake of the robot is not turned on, the motor is controlled to output gravity compensation torque based on the gravity compensation currentto a mechanical arm of the robot, and gravity compensation is achieved for the mechanical arm gravity torque and the load gravity torque of the robot. By means of the scheme, the problem that the tail end of the robot is likely to fall down due to tail end load and mechanical arm self gravity at the enabled moment of the robot in the prior art is solved, and the effect that the tail end of the robot is not likely to fall down is achieved.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a gravity compensation method, device, storage medium and robot, in particular to a gravity compensation method for a servo drive with a gravity compensation system, a device corresponding to the method, and a robot with the device , a computer-readable storage medium storing instructions corresponding to the method, and a robot capable of executing the instructions corresponding to the method. Background technique [0002] With the proposal of "Made in China 2025", the industrial automation industry has developed rapidly, and the application of industrial robots has become more and more extensive. However, the structure and operating state of industrial robots are complex, and there will be many problems in the process of use, which will cause unnecessary troubles for users; for example, when a fault occurs during operation and then restarts, the operation will be uns...

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Problems solved by technology

[0006] The purpose of the present invention is to provide a gravity compensation method, device, storage medium and robot to solve the problem in the prior art that the end of the robot is easy to fall due to the end load and the own gravity of the robot arm when the robot is enabled. , to achieve the effect that the end of the robot is not easy to fall

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