High-compliance method for guiding robot to cooperatively work by people

Abstract

The invention belongs to related technical field of intelligent sensing, and discloses a high-compliance method for guiding a robot to cooperatively work by people. The method comprises the followingsteps: (1) a human-computer cooperation system is provided; (2) the robot is towed for demonstration; a six-dimensional force sensor and a motor encoder of the human-computer cooperation system respectively measure information of force applied by operators and the angle and the angle speed of each joint of the robot; and a computer obtains the terminal speed and pose of the robot through robot kinematics calculation; and (3) the robot motion position and pose desired by the operators at the next time are predicted by adopting a sparse bayesian learning algorithm based on the information obtained in the step (2); and the torque of each joint is compensated through online adjustment of impedance parameters of an impedance controller according to the predicting result and design of a linear secondary adjuster. The method improves the compliance and the demonstration precision of the robot, and reduces the demonstration difficulty of the operators.

Description

technical field [0001] The invention belongs to the technical field related to intelligent perception, and more specifically, relates to a method for collaborative operation of highly compliant human-guided robots. Background technique [0002] At present, the use of industrial robots for automation has been widely used in the industrial field, but it cannot be fully automated in many processes. For example, the assembly of complex parts usually requires skilled workers to complete, because there is currently no suitable control strategy. Robots can have exactly the same experience as humans. Therefore, the human-robot cooperative operation system has received extensive attention in recent years. This scheme can combine human experience with the robot control system to make up for the shortcomings of robots in some aspects. In addition, the human-robot collaborative operation system can also be used as external auxiliary equipment, such as assisting humans to carry heavy go...

AI Technical Summary

Problems solved by technology

The impedance control parameters of the robot should match the operator's intention, that is, be able to actively comply with the operator's operating requirements. Although the operator's intention can be obtained in real time through measurement equipment, this is usually lagging and cannot achieve optimal compliance. state

At the same time, due to the introduction of the impedance control framework, it is equivalent to adding a second-order delay to the control system, which will also affect the compliance and trajectory tracking accuracy to a certain extent.

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