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Position adjustment method and device applied to robot and robot

A robot and target position technology, applied in the field of intelligent control, can solve the problems of high cost, inconvenient robot control, and no solution, and achieve the effect of reducing costs

Inactive Publication Date: 2019-07-09
SHENZHEN KUANG CHI METAMATERIAL TECH LTD
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  • Claims
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Problems solved by technology

[0005] In order to compensate the rigidity of the rope, the rope-tracted parallel robot in the related art installs a tension sensor in the joint, and also installs a tension sensor on the end effector for terminal contact force feedback, so the rope-tracted parallel robot in the related art Parallel robots are equipped with tension sensors on joints and end effectors, so the cost is high and it is not easy to control the robot
[0006] For the above problems, no effective solution has been proposed

Method used

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  • Position adjustment method and device applied to robot and robot
  • Position adjustment method and device applied to robot and robot
  • Position adjustment method and device applied to robot and robot

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Embodiment Construction

[0029] In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is an embodiment of a part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0030] It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate ...

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Abstract

The invention discloses a position adjustment method and device applied to a robot and the robot. The method comprises the steps of obtaining a measured value, measured by a tension sensor, of tensionof a joint of a rope pulling parallel robot, wherein the tension sensor is located in the joint; converting the measured value by a predetermined matrix; using the converted value as end feedback force of an end effector of the rope pulling parallel robot; and adjusting the position of the end effector according to the end feedback force. The position adjustment method and device solve the technical problems that tension sensors are installed on a joint and an end effector of a rope pulling parallel robot in related technology, and consequently the cost is high.

Description

technical field [0001] The invention relates to the field of intelligent control, in particular to a position adjustment method and device applied to a robot, and a robot. Background technique [0002] The rope traction parallel robot is a new type of robot mechanism after the serial robot and the parallel robot. It replaces the rigid connecting rod in the parallel robot with a flexible cable. Large and other characteristics At present, in-depth research has been carried out on the kinematics, dynamics analysis, and workspace analysis of rope-tracted parallel robots. Try to apply it in fields such as flexible cable traction cameras. [0003] The active compliance control technology of robots is a key technology in emerging intelligent manufacturing, and it is also a difficult point in flexible assembly automation. It integrates many disciplines such as sensors, computers, machinery, electronics, mechanics and automatic control, and its theoretical research and technical re...

Claims

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Application Information

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IPC IPC(8): B25J9/10B25J9/16
CPCB25J9/104B25J9/1633
Inventor 不公告发明人
Owner SHENZHEN KUANG CHI METAMATERIAL TECH LTD
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