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Variable-conductance nano control method and system used for robot

A control method and control system technology, applied in the variable admittance control method and system field of robots, can solve the problems of inability to quickly and sensitively respond to operator intentions

Inactive Publication Date: 2019-06-21
SHANGHAI ELECTRICGROUP CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a variable admittance control method and system for the robot in order to overcome the defect that the human-computer interaction robot in the prior art cannot quickly and sensitively respond to the operator's intention

Method used

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  • Variable-conductance nano control method and system used for robot
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  • Variable-conductance nano control method and system used for robot

Examples

Experimental program
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Effect test

Embodiment 1

[0068] This embodiment provides a variable admittance control method for a robot, such as figure 1 As shown, the variable admittance control method may include the following steps:

[0069] Step S1: detecting the operating force applied to the robot;

[0070] Step S2: Calculate the expected acceleration of the robot by using the operating force and preset admittance parameters, the preset admittance parameters including preset virtual damping and preset virtual mass;

[0071] Step S3: judging whether the expected acceleration and the current running speed of the robot have the same direction;

[0072] If the judgment result is yes, execute step S4: adjust the current running speed of the robot according to the first virtual damping and the first virtual mass, so that the robot has a first desired speed, wherein the first virtual The damping is smaller than the preset virtual damping, and the first virtual mass is smaller than the preset virtual mass. At this time, since the...

Embodiment 2

[0113] This embodiment provides a variable admittance control method for a robot, such as figure 2 As shown, this embodiment is a further improvement on the basis of Embodiment 1.

[0114] Specifically, the variable admittance control method may also include the following steps:

[0115] Step S6: judging whether the first desired speed is greater than a first preset speed saturation value;

[0116] If the judgment result is yes, execute step S7: control the robot to stop moving;

[0117] If the judgment result is no, then perform step S8: control the current running speed of the robot to change to the first desired speed.

[0118] Further, the variable admittance control method may also include the following steps:

[0119] Step S9: judging whether the second expected speed is less than a second preset speed saturation value;

[0120] If the judgment result is yes, execute step S7: control the robot to stop moving;

[0121] If the judgment result is no, execute step S10:...

Embodiment 3

[0126] This embodiment provides a variable admittance control system for a robot, such as image 3 As shown, the variable admittance control system 1 may include:

[0127] An operating force detection module 10, configured to detect the operating force applied to the robot;

[0128] The calculation module 11 is used to calculate the expected acceleration of the robot by using the operating force and preset admittance parameters, and the preset admittance parameters include preset virtual damping and preset virtual mass;

[0129] A first judging module 12, configured to judge whether the expected acceleration and the current running speed of the robot have the same direction;

[0130] If the judgment result is yes, then call the first speed adjustment module 13, the first speed adjustment module is used to adjust the current running speed of the robot according to the first virtual damping and the first virtual mass, so that the robot It has a first desired speed, wherein the...

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Abstract

The invention discloses a variable-conductance nano control method and system used for a robot. The variable-conductance nano control method comprises the following steps: detecting operating force applied on the robot; utilizing operating force and preset conductance nano parameters to calculate expected accelerated velocity of the robot, wherein the preset conductance nano parameters comprises preset virtual damping and preset virtual quality; judging whether expected accelerated velocity and current operation speed of the robot have a same direction; and if the judged result is yes, regulating current operation speed of the robot according to the first virtual damping and first virtual quality, and enabling the robot to have first expected speed, wherein the first virtual damping is smaller than preset virtual damping, and first virtual quality is smaller than preset virtual quality. Through a variable-conductance nano control way, a man-machine interactive type robot can quickly and sensitively respond to intention of an operator, so that immersion and third dimension of the operator are improved.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a variable admittance control method and system for a robot. Background technique [0002] With the advancement of science and technology and the commercialization of robot-assisted manufacturing, the physical human-computer interaction between the operator and the robot has gradually been valued, and various human-computer interaction robots have been continuously developed. [0003] The control methods of human-computer interactive robots in the prior art mainly include impedance control methods and admittance control methods. Among them, the impedance control method refers to the control method of input displacement and output force, which is usually only suitable for the dynamic interaction between the operator and the robot in a rigid environment (such as: grinding and polishing, picking and placing of goods, etc.), but it is difficult to satisfy the flexible envir...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
Inventor 周朝政严日明叶震
Owner SHANGHAI ELECTRICGROUP CORP
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