Robot drag teaching method and system based on mode control

Abstract

The invention discloses a robot drag teaching method and system based on mode control, which includes a data acquisition unit, a logic control unit and a motion control unit. The data acquisition unitcollects the data required by the motion control unit and the logic control unit; the logic control unit judges the rationality of current parameters of a robot according to instructions received bythe data acquisition unit, and determines motion modes of the robot; and the motion control unit takes teaching force into a force-velocity relationship mapping equation to compute robot speed commands according to results of the data acquisition unit and the logic control unit, the speed commands are taken into a velocity-position relationship mapping equation, and a command position of the robotis calculated according to velocity. According to the method and system, flexibility of robot operation can be ensured, and low-speed and stable motion under the condition of larger teaching force iskept, and teaching accuracy is improved.

Description

technical field [0001] The invention relates to the field of robot teaching systems, in particular to a robot drag teaching method and system based on mode control. Background technique [0002] Drag teaching allows the operator to directly manually pick up the traction robot to move and complete the record of the point or motion track without the teaching pendant and the host computer. Compared with the traditional teaching method, drag teaching has a lower threshold and is more intuitive, so it has broad application prospects. [0003] The core of robot drag teaching algorithm based on position control is to establish the mapping relationship between teaching force and robot speed. Usually, the force-speed mapping relationship is expressed by an equation, and the speed and the teaching force are positively correlated, that is, the greater the teaching force, the greater the robot speed. In order to ensure the stability of dragging, a motion dead zone must be introduced. ...

AI Technical Summary

Problems solved by technology

The advantage of this design is that the robot can be manipulated to move at a faster speed with a small amount of assistance from the outside world; the disadvantage is that the teaching system cannot achieve smooth low-speed dragging, which will directly affect the accuracy of dragging and teaching

[0005] (2) In order to ensure the stability of dragging (such as eliminating jitter and false triggering of dragging), a large motion dead zone must be introduced, which will undoubtedly reduce the sensitivity and accuracy of dragging teaching

[0006] (3) The handling of abnormal situations such as robot position and teaching force exceeding the specified range are not considered

[0007] Some execution methods or systems have also been developed in the prior art for teaching operations. For example, Chinese patent CN105479459 A discloses a method for manipulating the movement of a robot. Although it can achieve a certain degree of teaching control, it is still Failure to address the issues raised above

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