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Drag teaching method based on kinetic model and used for jointed industrial robot

An industrial robot and dynamic model technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as difficulty in stopping, failure to achieve robot pose control, etc. The effect of smoothness

Active Publication Date: 2019-03-01
HUAZHONG UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the existing teaching method of torque-free dragging is often independent dragging of each axis, which does not realize the robot pose control, and at the same time, it is difficult to stop quickly when the dragging torque is cancelled.

Method used

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  • Drag teaching method based on kinetic model and used for jointed industrial robot
  • Drag teaching method based on kinetic model and used for jointed industrial robot
  • Drag teaching method based on kinetic model and used for jointed industrial robot

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Embodiment Construction

[0039]In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0040] This embodiment takes the Huazhong CNC 605 robot as an example to illustrate the method of the present invention. The structure of the robot is as follows: figure 1 As shown, the number of joints is n=6, and the connecting rod parameters of the robot are shown in Table 1:

[0041] Table 1 Connecting rod parameters

[0042]

[0043] The specific implementation steps are as follows:

...

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Abstract

The invention belongs to the field of industrial robot teaching, and specifically discloses a drag teaching method based on a kinetic model and used for a jointed industrial robot. The drag teaching method comprises the following steps: the kinetic model of a multi-joint industrial robot is established, and kinetic parameters in the kinetic model are identified; the robot enters a drag teaching mode, the actual torque and the theoretical torque of each joint are obtained, and the generalized force vector difference value of a robot end in the current period is calculated; the update speed of the robot end in the current period is calculated; the speed value of each joint of the robot in the current period is calculated according to the update speed of the robot end in the current period, and the speed value of each joint is transmitted to a servo motor corresponding to the joint to realize drag teaching for the robot; and whether the multi-joint industrial robot keeps the drag teachingmode or not is judged, if so, the joint speed update process is repeated; or else, the operation is concluded. The drag teaching method has the advantages of being accurate in position and pose control, stable in drag process, and the like.

Description

technical field [0001] The invention belongs to the field of teaching of industrial robots, and more particularly relates to a drag teaching method of an articulated industrial robot based on a dynamic model. Background technique [0002] In the process of industrial automation production, especially in the fields of automobile, electronics, medical treatment and aerospace, robots have been widely used. In order to ensure the quality of the process, it is necessary to teach the robot. Traditional teaching methods include: hand-held teaching box teaching and offline programming teaching. The above methods require a long deployment time, the process is cumbersome, and the professional technical requirements for operators are high. It is difficult to meet the needs of one-time production or small batch production. teaching efficiency requirements. In order to improve the teaching process of traditional robots, the drag and drop teaching method can be used to directly drag the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/16B25J9/22
CPCB25J9/00B25J9/0081B25J9/16B25J9/1607
Inventor 叶伯生陶婕妤谢鹏谢远龙张文彬谭朝帅思远饶阿龙
Owner HUAZHONG UNIV OF SCI & TECH
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