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An industrial robot drag teaching method and system

An industrial robot, dragging and teaching technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of low cost, poor operation feel, etc., achieve accurate results, ensure precision, and simple implementation process

Active Publication Date: 2021-07-27
FUZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

This method is low in cost, but the operation feel is not as good as the direct teaching method of installing torque sensors on each joint, and it is required to be able to accurately identify the dynamic parameters and friction model of the robot

Method used

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  • An industrial robot drag teaching method and system
  • An industrial robot drag teaching method and system
  • An industrial robot drag teaching method and system

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Embodiment Construction

[0073] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0074] It should be pointed out that the following detailed description is exemplary and is intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0075] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combina...

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Abstract

The invention relates to a method and system for dragging and teaching an industrial robot, which uses a six-dimensional force sensor to collect the force information of the robot to identify the dynamic parameters of the robot to establish a frictionless dynamic model of the robot, and calculates the actual value of the robot according to the impedance control law. Motion control amount and theoretical motion control amount, use the enhanced iterative learning process to identify the corresponding friction model parameters in the robot dynamics model with friction, and implement drag teaching based on the frictional robot dynamics model and the enhanced iterative learning process As well as compensating the errors in the teaching process, it has the advantages of simplicity, precise control, and stability.

Description

technical field [0001] The invention relates to the technical field of robot teaching, in particular to an industrial robot drag teaching method and system. Background technique [0002] With the continuous development of robot technology, the application of robots has also been greatly popularized. In many fields, we can see that robotics is playing an important role. In the field of industrial production, industrial robots have been widely used to perform welding, assembly, handling and other tasks to improve production efficiency. In order for the robot to complete the specified tasks, we need to teach the robot. [0003] Robot teaching techniques include direct teaching, teaching pendant teaching and offline teaching. Teach pendant teaching and offline teaching have disadvantages such as time-consuming, low efficiency, complicated operation, and high requirements for operators, and it is difficult to meet the needs of industrial production for teaching efficiency. Di...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/0081B25J9/1602B25J9/1661B25J9/1679
Inventor 吴海彬黄兴平许锡阳
Owner FUZHOU UNIV