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A robot joint interactive force perception 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: 2021-02-05
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 force of robot joints to solve the problem of defects in the perception and control of interactive force of robot joints in the prior art

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  • A robot joint interactive force perception and control method and device
  • A robot joint interactive force perception and control method and device
  • A robot joint interactive force perception and control method and device

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Embodiment Construction

[0086] 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.

[0087] An embodiment of the present invention provides a method for sensing and controlling interactive force of a robot joint, including:

[0088] Step S100, obtaining the joint interaction force setting value T in the joint interaction force controller set .

[0089] 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 perception and control method and device, wherein the method includes: acquiring the joint interaction force setting value T in the joint interaction force controller set ; Get the joint interaction force feedback value T in the joint interaction force controller int ; Joint interaction force feedback value T int Including the three-phase current i of the motor stator a i b i c , rotor position information θ m and dq voltage control quantity command v d , v q ;Get the current control value command i in the joint interaction force controller dset i qset ; Make the joint interaction force feedback value T through the closed-loop control algorithm int Converge to the joint interaction force set value T set . Converge the actual value of the interaction force of the robot joint to the preset value of the interaction force of the robot joint through the feedback mechanism, without installing a traditional joint force sensor, and only indirectly obtain the interaction force generated by the robot joint externally from the electrical signal of the robot joint driver, and perform The closed-loop precise and safe force control greatly reduces the cost, volume and complexity of the system and improves the system bandwidth.

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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Patent Type & Authority Patents(China)
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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