Robot joint interaction force sensing and control method and device

A technology of robot joints and control methods, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc.

Active Publication Date: 2020-03-06
江苏开璇智能科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In view of this, the embodiment of the present invention provides a method and system for sensing and controlling interactive fo

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  • Robot joint interaction force sensing and control method and device
  • Robot joint interaction force sensing and control method and device
  • Robot joint interaction force sensing and control method and device

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Embodiment Construction

[0085] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present invention.

[0086] An embodiment of the present invention provides a method for sensing and controlling interactive force of a robot joint, including:

[0087] Step S100, obtaining the joint interaction force setting value T in the joint interaction force controller set .

[0088] In this embodiment, the joint interaction force setting value T set It is the preset val...

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Abstract

The invention discloses a robot joint interaction force sensing and control method and device. The method comprises the steps that a joint interaction force set value Tset in a joint interaction forcecontroller is obtained; joint interaction force feedback values Tint in the joint interaction force controller are obtained; the joint interaction force feedback values Tint comprise three-phase current is, ib and ic of a motor stator, position information theta m of a rotor and dq voltage control quantity commands vd and vq; current control quantity commands idset and iqset in the joint interaction force controller are obtained; and the joint interaction force feedback values Tint are restrained to the joint interaction force set value Tset through a closed-loop control algorithm. Actual values of the robot joint interaction force are restrained to the preset value of the robot joint interaction force through a feedback mechanism without mounting a traditional joint force sensor; and external interaction force of robot joints are indirectly obtained only from electric signals of a robot joint driver for precise and safe closed-loop control, so that the cost, the volume and the complexity of a system are greatly reduced, and the band width of the system is increased.

Description

technical field [0001] The invention relates to the technical field of automation control, in particular to a method and system for sensing and controlling interactive force of robot joints. Background technique [0002] In terms of production, as my country's demographic dividend continues to fade, and the industrial economy in various regions is accelerating transformation and upgrading, the wave of "machine replacement" promoted by the government and implemented by enterprises is accelerating the deployment, and the "black light" of completely replacing manual production with robots Factories" keep popping up. Since 2013, China has become the world's largest industrial robot market. The "Guiding Opinions on Promoting the Development of the Industrial Robot Industry" issued by the Ministry of Industry and Information Technology in 2013 pointed out that by 2020, the installed capacity of industrial robots will reach 1 million units, and about 200,000 employees related to th...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1628B25J9/1694
Inventor 鞠锋储建华王刚
Owner 江苏开璇智能科技有限公司
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