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Collaborative robot constant-force massage method based on PID algorithm

A technology for robots and robot bodies, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as high noise, poor versatility, and complicated operations, and achieve improved intelligence, manpower saving, and optimization of control accuracy and real-time performance. Effect

Inactive Publication Date: 2019-11-08
TIANJIN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Its device includes a power cylinder, a guide mechanism, a central control unit, a fixed installation cover and a placement installation cover. There are many devices, the operation is relatively complicated, and the versatility is poor.
And it mainly relies on aerodynamics, and the noise is large

Method used

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  • Collaborative robot constant-force massage method based on PID algorithm

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Embodiment Construction

[0022] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0023] The method of the invention achieves massaging the human body with a constant force by programming the collaborative robot.

[0024] A kind of collaborative robot constant force massage method based on PID algorithm of the present invention as shown in the accompanying drawing, comprises the following steps:

[0025] Step 1. Install the device:

[0026] The upper computer 3 is connected to the robot controller in the robot control system 1 through the TCP network cable 7, the robot controller is connected to the servo driver, the servo driver is connected to the joint motor of the robot body 2, and the robot teaching device matched with the robot controller is connected to the The robot controller is connected, and the connection communication between the upper computer 3 interface and the robot controller is realized through the TCP ...

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Abstract

The invention discloses a collaborative robot constant-force massage method based on a PID algorithm. The method comprises following steps: equipment is mounted; a power-on button on a robot demonstrator is pressed, and a robot control system is powered on; a human-computer interaction software program is operated on an upper computer, a human-computer interface is started, and a constant-force value and a stepping value of constant-force massage are set by a user; a communication channel with the upper computer is constructed; a displacement compensation value and a posture compensation valueare calculated according to a force value and a torque value, measured by sensors, of a robot terminal; robot terminal force is corrected by the calculated compensation values; the massage is completed, the upper computer stops operation, and the robot stops movement. The massage effect is good, and the human comfort is higher; the method is simple to operate, good in real-time property, low in noise and higher in safety; the posture of the robot can be adjusted automatically in the massage process, and the level of intelligence is higher; the robot is less affected by external disturbance, and the robustness is good.

Description

technical field [0001] The invention relates to a robot teaching method, in particular to a constant force massage method of a collaborative robot based on a PID algorithm. Background technique [0002] In order to enable the robot to complete various intelligent and automated tasks, it is essential to carry out robot teaching and algorithm optimization. Traditional teaching techniques are generally divided into teaching pendant teaching and offline teaching. The teaching of the teaching pendant requires the teaching pendant to send coordinate points to the robot according to the required trajectory through the teaching pendant. This method can meet the requirements for a simple plane trajectory, but it cannot guarantee the accuracy and accuracy of the robot trajectory and force. Real-time, teaching efficiency and accuracy are relatively low. Offline teaching is to automatically generate the trajectory of the robot according to the requirements of the work task through the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J11/00
CPCB25J9/1602B25J9/1694B25J11/008
Inventor 王国栋孙誉博肖聚亮杜红灯
Owner TIANJIN UNIV
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