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A robot joint control system

A control system and robot technology, applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve problems such as low control bandwidth, no force control of robots, and limited dynamic performance

Active Publication Date: 2021-04-16
前元运立(北京)机器人智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Existing robot control technology usually performs PID (proportion, integral, differential) control on the joints, and at the same time compensates gravity and joint friction based on the model. Such traditional control methods have a low control bandwidth. , the dynamic performance is thus limited
[0003] At the same time, most of the existing robots do not perform force control
A small number of robots perform force control based on joint torque sensors, and the force control accuracy is poor

Method used

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Embodiment Construction

[0064]In order to have a clearer understanding of the technical features, purposes and effects of the invention, the specific implementation manners of the present invention will now be described with reference to the accompanying drawings, in which the same reference numerals represent the same parts.

[0065] In this article, "schematic" means "serving as an example, example or illustration", and any illustration or implementation described as "schematic" should not be interpreted as a more preferred or more advantageous Technical solutions.

[0066] In order to make the drawings concise, the figures in each figure only schematically show the relevant parts of the present invention, and do not represent the actual structure of the product. In addition, to make the drawings concise and easy to understand, in some drawings, only one of the components having the same structure or function is schematically shown, or only one of them is marked.

[0067] In this article, "first",...

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Abstract

The invention discloses a robot joint control system. Specifically, the robot has a mechanical arm, the mechanical arm includes several joint modules and the end of the mechanical arm, each joint module is provided with a corresponding encoder and a drive motor, and the end of the mechanical arm is provided with an end effector and a multi-dimensional force sensor, The joint control system includes: a state feedback module, a target input module and a bit control module. Therefore, the joint control system of the robot described in this application adopts the control method of PID control and virtual decomposition control combination, and performs dynamic force compensation based on the kinematics model, which can greatly reduce the amount of computation while increasing the bandwidth of the system, thereby improving control precision of the robot.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a robot joint control system. Background technique [0002] Existing robot control technology usually performs PID (proportion, integral, differential) control on the joints, and at the same time compensates gravity and joint friction based on the model. Such traditional control methods have a low control bandwidth. , the dynamic performance is thus limited. [0003] At the same time, most of the existing robots do not perform force control. A small number of robots perform force control based on joint torque sensors, and the force control accuracy is poor. Contents of the invention [0004] In view of this, the present invention provides a robot joint control system, which has more precise joint control and a higher control bandwidth, thereby realizing high-precision robot control and meeting the needs of more refined industrial processing. [0005] An embodiment of the present...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1628B25J9/1694
Inventor 陈恺勋刘立白杰骆子豪杨立豪
Owner 前元运立(北京)机器人智能科技有限公司