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Cooperative robot compliance force control method and system

A control method and robot technology, applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve problems such as high computational cost and difficult physical constraints

Active Publication Date: 2020-04-21
INST OF INTELLIGENT MFG GUANGDONG ACAD OF SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The existing force control methods for collaborative robots with redundant degrees of freedom are mainly based on the pseudo-inverse calculation of the robot Jacobian matrix; however, this method generally has the following problems: 1) The pseudo-inverse calculation of the Jacobian matrix leads to calculation The cost is too high; 2) It is difficult to deal with the physical constraints of the system

Method used

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  • Cooperative robot compliance force control method and system
  • Cooperative robot compliance force control method and system
  • Cooperative robot compliance force control method and system

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Embodiment

[0107] see figure 1 , figure 1 is a schematic flowchart of a method for controlling compliance force of a collaborative robot in an embodiment of the present invention.

[0108] like figure 1 Shown, a kind of cooperative robot compliant force control method, described method comprises:

[0109] S11: Obtain and initialize the state variables of the robot;

[0110] In the specific implementation process of the present invention, before the state variables of the robot are obtained and initialized, it also includes: aiming at the orthogonal characteristics of the contact force between the robot movement and the workpiece, in the tool coordinate system and the base coordinate system Carry out separate modeling to obtain the robot motion modeling system; where, the representation of the base coordinate system R 0 (x 0 ,y 0 ,z 0 ); the representation of the tool coordinate system R t (x t ,y t ,z t ).

[0111] Further, the contact force between the robot and the workpiece ...

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Abstract

The invention discloses a cooperative robot compliance force control method and system. The method comprises the steps that a state variable of a robot is obtained and initialized; a current rotationmatrix is obtained based on the initialized state variable; current state feedback information of the robot is read based on the current rotation matrix; equality constraints of compliance force control and inequality constraints of joint angle, joint angular velocity and joint moment in a robot system are established based on the current state feedback information; a joint torque function is rewritten, and a final constraint optimization model is obtained; the state variable and control torque in the final constraint optimization model are updated based on a dynamic neural network model; andwhether current time is longer than task time or not is judged, if yes, compliance force control is ended, and otherwise, the current rotation matrix is returned. In the method, high-precision force control in the contact force direction and motion control in the free movement direction can be realized at the same time.

Description

technical field [0001] The invention relates to the technical field of intelligent control of robots, in particular to a compliance force control method and system of a collaborative robot. Background technique [0002] A collaborative robot is a robot that can work collaboratively with humans in a co-working space. Collaborative robots can directly work side by side with human employees without using safety fences for isolation, and have the characteristics of fast production line deployment, simple task switching, and good human-machine friendliness. They are widely used in medical care, light industrial assembly, electronic information, and home services. And other fields have broad application prospects, and are considered to be an important carrier to realize "Industry 4.0" and "Intelligent Manufacturing 2025". [0003] The most important prerequisite for collaborative robots to enter practical applications is to achieve "human-machine integration", among which improvi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1633B25J9/1664
Inventor 徐智浩唐观荣吴鸿敏周雪峰李帅
Owner INST OF INTELLIGENT MFG GUANGDONG ACAD OF SCI
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