Robot control method and system based on admittance control algorithm

A technology of control method and control algorithm, which is applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve the problems that cannot meet the requirements of robot speed and sensitivity, and achieve immersion and realism, compliant control, response speed and Effect of Sensitivity Improvement

Active Publication Date: 2022-04-15
SHANGHAI ELECTRICGROUP CORP
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Problems solved by technology

[0004] The technical problem to be solved in the present invention is to overcome the defect that the admittance control algorithm of the prior art cannot meet the requirements of the speed and sensitivity of the robot operating in a narrow or complex curved surface space, and to provide a robot control algorithm based on the admittance control algorithm. method and system

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  • Robot control method and system based on admittance control algorithm
  • Robot control method and system based on admittance control algorithm
  • Robot control method and system based on admittance control algorithm

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Embodiment Construction

[0050] The present invention is further illustrated below by means of examples, but the present invention is not limited to the scope of the examples.

[0051] This embodiment provides a method for controlling a robot based on an admittance control algorithm. The robot includes a multi-joint manipulator and a controller, and a manipulator is provided at the end of the manipulator. Such as figure 1 As shown, the robot control method of the present embodiment includes the following steps:

[0052] Step 101. Obtain the guiding force acting on the manipulator and the current speed of the end point of the mechanical arm.

[0053] Specifically, the acquisition of the guiding force can be obtained through a multi-dimensional torque sensor (such as a six-dimensional torque sensor). The multi-dimensional torque sensor is installed at the end of the robotic arm. When the operator directly contacts and drags the manipulator, the sensor can obtain the guiding force data.

[0054]

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Abstract

The invention discloses a robot control method and system based on an admittance control algorithm. The method includes the following steps: obtaining the guiding force acting on the manipulator, and calculating the target speed of the end of the mechanical arm according to the admittance coefficient and the guiding force; obtaining the current speed of the end, and calculating the target speed according to the current speed and the obtained calculating the acceleration of the tip from the guiding force; inputting the target velocity and the acceleration into the controller to control the robotic arm. The invention realizes the compliant control of the robot through the matching of the guiding force and the speed and acceleration, greatly improves the response speed and sensitivity, ensures the immersion and realism of the operation, and is suitable for robots that need to operate in a narrow or complex curved space.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a robot control method and system based on an admittance control algorithm. Background technique [0002] At present, commercial human-computer interaction robots mainly adopt two methods of impedance control and admittance control. Impedance control refers to the control method of input displacement and output force, which is more suitable for dynamic interaction in rigid environment. Admittance control is to study the relationship between input force and output speed, which is more suitable for scenarios where flexible environments interact with each other or operate in a free environment. Admittance control is more in line with the intuitive feeling of human operation, can improve the immersion and realism of operation, and is more suitable for application scenarios such as dragging and dropping, so it is more suitable for medical robots. [0003] The existing admittan...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1628B25J9/1651
Inventor 李晓静叶震李攀
Owner SHANGHAI ELECTRICGROUP CORP
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