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A robot joint torque control system and its load compensation method

A technology of robot joints and control systems, applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., can solve problems such as complex control method models, achieve the effects of increasing open-loop gain, improving system performance, and simple application

Active Publication Date: 2021-05-18
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, many advanced control methods such as quantitative feedback control and robust control can achieve good control effects, but the control method model is relatively complicated, and most of the research work is simulation analysis or is limited to the laboratory.

Method used

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  • A robot joint torque control system and its load compensation method
  • A robot joint torque control system and its load compensation method
  • A robot joint torque control system and its load compensation method

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Embodiment Construction

[0024]The present invention is made in conjunction with the accompanying drawings and specific examples, but the scope of the invention is not limited thereto.

[0025]Such asfigure 1 As shown, the robot joint torque control system consists of joint body and control system. The joint body consists of a servo motor, a gear reducer, a torque sensor, an absolute value encoder. The servo motor output shaft and the gear reducer rigidity, the gear reducer and the joint end load pass the torque sensor rigidly connected, and the torque sensor is used to detect joints. The actual moment; the current sensor is mounted inside the servo motor for detecting the actual output current of the servo motor, an absolute value encoder mounting joint end load, and is used to detect the actual position of the joint end load. The control system consists of comparator I, torque loop controller, comparator II, and loop current controller. By comparing the actual output current current of the servo motor by a g...

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Abstract

The invention provides a robot joint torque control system and a load compensation method thereof, belonging to the technical field of robot joint motion control. First, the mathematical model of the robot joint torque control system is established. After equivalent deformation of the system block diagram, it can be seen that the load parameters have a great influence on the joint torque output. By designing the load compensation controller, the impact of the load parameters on the joints can be effectively eliminated. The effect of output torque. On the basis of this compensation, the system is equivalent to an inertia link, and then by adjusting the parameters of the PD controller, the open-loop gain of the system can be increased, the system bandwidth can be increased, the response speed of the joint torque control system can be improved, and the performance of the joint torque control system can be improved. .

Description

Technical field[0001]The present invention belongs to the technical field of robot joint motion control, and in particular to a robot joint torque control system and its load compensation method.Background technique[0002]In recent years, the use of robots in all industries in society, making the research of robots become a hot spot. Robot commonly used drives include motor drive, hydraulic drive and pneumatic drive. The motor drive has a compact structure, simple control, high transmission efficiency, and high control precision, and is currently the most commonly used driving method in the field of robots. The robot joint is usually composed of a servo motor, a gear reducer, and an encoder, and a typical location control system, but when its foot is attached or contacted with an obstacle, if the position control system will cause a large rigid impact, result The robot walks and other homeworks are unstable. At this time, the joint switching into a torque control system can effective...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1633B25J9/1628B25J9/1638G05B2219/39188B25J13/085G05B19/4155
Inventor 余张国刘雅梁黄强左昱昱陈学超于晗黄高
Owner BEIJING INSTITUTE OF TECHNOLOGYGY