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Torque control based robot position displacement method

A robot and torque technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of wear and tear of end actuators, old production lines, poor mold consistency, etc., and achieve the effect of increasing service life and improving stability.

Inactive Publication Date: 2020-03-27
MICROPAK CNC TECH QUANZHOU
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the old production line and poor mold consistency, the current robot control method based on position control may collide with the mold during the slag scraping process, resulting in wear of the end effector, which may seriously cause the robot to stop and affect Production

Method used

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  • Torque control based robot position displacement method
  • Torque control based robot position displacement method
  • Torque control based robot position displacement method

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Experimental program
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Embodiment 1

[0029] Embodiment 1: (the present invention is specifically applied in nonferrous metal scraping slag treatment)

[0030] A method for scraping non-ferrous metal slag by a robot based on torque control, said method comprising the following steps:

[0031] Step 1: Teach the robot scraping slag trajectory, and perform collision-free movement at the rated speed under the standard mold;

[0032] Step 2: During the operation of the robot, collect the joint angle, joint angular velocity, joint angular acceleration and joint torque data every 2ms;

[0033] Step 3: On the basis of the trajectory in step 1, perform trajectory offset, so that the actuator of the robot makes slight contact with the left side of the mold, and then moves at the rated speed;

[0034] Step 4: During the operation of the robot, collect the joint angle, joint angular velocity, joint angular acceleration and joint torque data every 2ms;

[0035] Step 5: On the basis of the trajectory in step 1, perform trajec...

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Abstract

The invention discloses a torque control based robot position displacement method which comprises the following steps: at first, collecting three groups of data of a robot in contact with the two sides of a die without collision as neural network training data, then, training the neural network to obtain a model capable of distinguishing whether contact or collision takes place, and finally, afterobtaining the contact or collision direction of the tail end of an executing mechanism, carrying out speed displacement on the executing mechanism at the tail end of the robot to avoid collision. Thetorque control based robot position displacement method greatly prolongs the service life of a slag scraping mechanism and improves the nonferrous metals slag scraping stability of the robot.

Description

technical field [0001] The invention relates to a robot control method, in particular to a torque control-based robot position offset method. Background technique [0002] Scraping of non-ferrous metals by industrial robots is an important application in the smelting industry. Due to the old production line and poor mold consistency, the current robot control method based on position control may collide with the mold during the slag scraping process, resulting in wear of the end effector, which may seriously cause the robot to stop and affect Production. [0003] Therefore, there is currently a need for a control method capable of improving a position-controlled robot, so as to reduce damage during the working process of the robot. Contents of the invention [0004] The purpose of the present invention is to provide a position offset method of a robot based on torque control, so as to make up for the deficiencies in the prior art. [0005] To achieve the above object, t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/0081B25J9/161B25J9/1633B25J9/1666
Inventor 陈钟恭蔡伟强郑华锋张志远张飞檐
Owner MICROPAK CNC TECH QUANZHOU