Robot control method, device, storage medium and robot

Abstract

The invention discloses a robot control method and device, a storage medium and a robot. The control method includes the steps that current location information and current load information of a current mechanical arm of the robot under a current posture input by a user through a demonstrator of the robot are received; and according to the current location information and the current load information, combined with current model parameters of the current mechanical arm in model parameters of the robot contained in a project file of the robot, through a gravity compensation calculation module embedded in the demonstrator, a gravity compensation current used for gravity compensation of the current mechanical arm under the current posture is calculated. According to the scheme, the problem that the calculation accuracy is not high due to the fact that calculating of the gravity compensation current value is completed through a servo driver or the supporting computer operation interface can be solved, and the effect of calculation accuracy improvement is achieved.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a robot control method, device, storage medium and robot, in particular to a gravity compensation method of a teaching pendant with a gravity compensation system, a device corresponding to the method, and a device with the gravity compensation system. A robot, 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...

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Problems solved by technology

[0007] The object of the present invention is to, aiming at the above defects, provide a robot control method, device, storage medium and robot to solve the problem that the calculation accuracy of the gravity compensation current value is not enough through the servo drive or the computer operation interface matched with it. High problems, to achieve the effect of improving calculation accuracy

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