Collaborative robot friction moment compensation method for drag teaching

A friction torque, dragging and teaching technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of inconvenient engineering application, difficult theory, and complicated steps, and achieve the effect of not easy to make mistakes, low cost, and simple principle.

Active Publication Date: 2019-05-28
合肥哈工仞极智能科技有限公司
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Problems solved by technology

[0005] Theoretically, the joint friction torque of the collaborative robot can be obtained indirectly by the method of system identification, but this method is difficult in theory, cumbersome in steps, high in cost, requires a large amount of experimental data, and requires the experimenter to have a strong ability to analyze the experimental data. The ability of comprehensive analysis is not convenient for engineering application

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  • Collaborative robot friction moment compensation method for drag teaching

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Embodiment Construction

[0027] A method for compensating friction torque of a collaborative robot for drag teaching includes the following steps:

[0028] Step 1. For the multi-axis collaborative robot, the joints that need to be compensated for friction torque are tested individually in sequence.

[0029] Select multiple test angles at equal intervals in the joint position space, and select multiple test speeds at equal intervals in the joint velocity space. The range of the joint velocity space is selected according to the actual drag teaching speed range.

[0030] Step 2, start the test from the minimum test speed, each test speed joint reciprocates 10 times in the position space, and the time interval between each reciprocating rotation is 5 seconds.

[0031] When rotating the joint, the joint first accelerates to reach the test speed, then moves at a constant speed at the test speed, and finally decelerates to 0.

[0032] The joint motion passes through all test angles, and is in a uniform moti...

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Abstract

The invention discloses a collaborative robot friction moment compensation method for drag teaching, and relates to the technical field of collaborative robots. According to the method, the mathematical relation between the robot connecting rod gravity moment and the robot joint friction moment is established, and the joint armature current corresponding to the robot joint friction moment is estimated through the joint armature current corresponding to the robot connecting rod gravity moment. The collaborative robot friction moment compensation method for drag teaching has the advantages thata simple and reliable friction moment estimation method is provided; compared with a system identification method, the method has the advantages of being simple in principle and low in cost; and by use of the method, the compensation of the robot joint friction moment is not difficult any longer, and compared with the drag external force in the process that no friction moment compensation exists,the drag external force is remarkably reduced.

Description

technical field [0001] The invention relates to the technical field of collaborative robots, in particular to a method for compensating friction torque of collaborative robots for drag teaching. Background technique [0002] With the increasing maturity of industrial robot technology and the continuous popularization of applications, the requirements for human-machine cooperation are getting higher and higher. The traditional teaching method mainly relies on the teaching device, which has low work efficiency and requires a high level of knowledge of the operator. The drag teaching technology using direct torque control can help the operator to directly drag the robot end effector to any desired position, which greatly reduces the requirements for the operator and improves work efficiency. [0003] The drag teaching technology requires that the connecting rods of the robot be in or close to zero external force static suspension state. At this time, the position of each join...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
Inventor 王彤王华瞿喜锋郭庆洪张强于振中李文兴
Owner 合肥哈工仞极智能科技有限公司
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