Non-sensing active flexible control module for drive-control integrated control system

Abstract

The invention discloses a non-sensing active flexible control module for a drive-control integrated control system. The non-sensing active flexible control module comprises a position ring and a forcering, wherein the position ring comprises a position input end, a position selection matrix and a position control law module; the position input end inputs a tail end position signal to the positionselection matrix, and the processed position signal is input to a force position hybrid control law output module; the force ring comprises a force input end, a force selection matrix, a force control law module and a joint torque estimation module based on motor current; a tail end force input end is used for inputting a tail end force signal to the force selection matrix, then the processed force signal is input to the force position hybrid control law output module, and the joint torque estimation module feeds real-time current of a joint motor back to the tail end force input end; and theforce position hybrid control law output module inputs a force level hybrid control law output signal to the joint motor. The non-sensing active flexible control module for the drive-control integrated control system has the advantages that the joint torque of each robot can be detected and estimated without a sensor, and the cost of a cooperative robot is reduced.

Description

technical field [0001] The invention belongs to the field of collaborative robots, in particular to a sensorless active compliance control module for a drive-control integrated control system. Background technique [0002] Robots occupy an extremely important position in production automation. At present, robots have been widely used in production automation, and most robots work according to pre-programmed programs, which is called position control. However, when the external conditions change, the working state will change. In order to make the robot do correct actions, the robot should make corresponding adjustments in response to changes in external conditions. If the position control robot is used at this time, the work will be slow. Difficulty arises. [0003] To make the robot respond to changes in the outside world, visual sensors, force sensors, etc. are generally used to sense the changes in the outside world, and then feed the information back to the control syst...

AI Technical Summary

Problems solved by technology

[0005] The active compliance force control information of existing robots is mainly obtained through the force / torque sensors on the joints, but the force / torque sensors are large in size and are not suitable for use on collaborative robots. If a smaller-sized force / torque sensor is used, there will be There is an expensive problem

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