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Robot drag teaching method, device, electronic equipment and storage medium

A technology of dragging teaching and robots, which is applied in the field of robotics, can solve the problems of dynamic parameter identification errors, no technical solutions, and low accuracy of robot dragging teaching, so as to avoid errors and improve accuracy. Effect

Active Publication Date: 2020-11-20
SHANGHAI JIEKA ROBOT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, in the drag teaching method based on robot dynamics compensation, there is an error in the identification of dynamic parameters, which leads to low accuracy of robot drag teaching
[0004] For the above problems, there is no effective technical solution

Method used

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  • Robot drag teaching method, device, electronic equipment and storage medium
  • Robot drag teaching method, device, electronic equipment and storage medium
  • Robot drag teaching method, device, electronic equipment and storage medium

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Embodiment Construction

[0050] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all of them. The components of the embodiments of the application generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of the present application.

[0051] It should ...

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Abstract

The invention provides a robot dragging demonstration method and device, electronic equipment and a storage medium. The robot dragging demonstration method comprises the steps of: obtaining initial position parameters, initial speed parameters and initial acceleration parameters of a tail end of a robot main body; obtaining effective constant force parameters of the robot main body to a base in each of multiple continuous periods; inputting the initial position parameters, the initial speed parameters, the initial acceleration parameters and the effective constraint force parameters detected in each period into a mass-spring-damper system model to respectively calculate actual position parameters, actual acceleration parameters and actual speed parameters of ending points in correspondingperiods; and controlling corresponding joints of the robot to move according to the actual position parameters, the actual acceleration parameters and the actual speed parameters to finish the dragging demonstration in the corresponding periods. The robot dragging demonstration method can prevent the problem of errors in kinetic parameter identification in kinetic compensation methods.

Description

technical field [0001] The present application relates to the field of robot technology, in particular, to a method, device, electronic device and storage medium for dragging and teaching a robot. Background technique [0002] At present, there are two mainstream robot drag teaching methods: drag teaching based on the terminal six-dimensional force sensor and drag teaching based on robot dynamics compensation. The drag teaching method based on the six-dimensional force sensor at the end is realized through admittance control. The force sensor acquires external force and controls the speed or position of the end of the robot through the admittance. The drag teaching method based on robot dynamics compensation is to identify the dynamic parameters of the robot, including the mass, center of mass, friction and motor rotor inertia of each joint of the robot, calculate the joint torque according to the dynamic equation and compensate it to the corresponding joint , to realize dr...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/22
CPCB25J9/00B25J9/16
Inventor 李明洋
Owner SHANGHAI JIEKA ROBOT TECH CO LTD
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