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Method of high precision force feedback of mechanical arm in stationary or low speed working condition

A mechanical arm and force feedback technology, applied in the field of robotics, can solve the problems of high computing cost and occupy large resources, and achieve the effect of accurate force feedback, reducing requirements and reducing the number of parameters

Active Publication Date: 2020-09-04
HANGZHOU JOINTECH LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The traditional method requires a lot of resources in calculation, and the operation cost is very high

Method used

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  • Method of high precision force feedback of mechanical arm in stationary or low speed working condition
  • Method of high precision force feedback of mechanical arm in stationary or low speed working condition
  • Method of high precision force feedback of mechanical arm in stationary or low speed working condition

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Embodiment Construction

[0021] Below in conjunction with specific embodiment and accompanying drawing, the present invention is further elaborated and illustrated:

[0022] Please refer to figure 1 , In order to explain the technical details contained in the steps more specifically, the present invention will be further explained below in conjunction with the accompanying drawings and the actual operation on the KUKALBR Med 7 R800 seven-axis collaborative robot arm.

[0023] The complete dynamic equation should include the inertia term B(q), centrifugal force and Coriolis force term Gravity term G(q), viscous friction term F v and the Coulomb friction term F c . q in the equation, represent the position, velocity and acceleration of the joint, respectively. When the working condition is static or low-speed motion, the joint speed and acceleration is close to 0, only the gravity item is reserved to adapt to the static or low-speed working conditions, so the dynamic equation can be simplifie...

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Abstract

The invention discloses a method of high precision force feedback of a mechanical arm in a stationary or low speed working condition. The method comprises the following steps of S100, establishing joint coordinate systems of the mechanical arm and calculating a jacobian matrix of joints; S200, establishing a coordinate system of an origin located at the center of mass of each section of the mechanical arm according to the joint coordinate systems and calculating a jacobian matrix of the center of mass; S300, establishing a matrix of gravity items in a kinetic equation; S400, collecting joint positions and torque data in the moving process of the mechanical arm; S500, introducing data of S400 in S300 to calculate a result; S600, obtaining an extra joint torque caused by applying an externalforce; and S700, calculating amplitude and direction of an external force at the tail end of the mechanical arm by combining the jacobian matrix of joints in S100 and the extra joint torque in S600.The invention provides the method of high precision force feedback of the mechanical arm in the stationary or low speed working condition, so that the calculating steps are simplified and the force feedback precision is improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a method for high-precision force feedback of a mechanical arm under static or low-speed working conditions. Background technique [0002] In recent years, the application of industrial robotic arms in the medical field is developing rapidly. With the help of the robotic arm, the surgery, which was originally difficult, poor in precision, and time-consuming, has been improved to varying degrees. As a branch of industrial robotic arms, collaborative robotic arms have won the favor of the medical industry due to their advantages such as good man-machine collaboration and no need for safety protection. Unlike robotic arms used in industry, medical robotic arms pay more attention to safety than efficiency, so the movement of medical robotic arms is basically maintained in a static or slow moving state. However, in order to ensure the flexibility and safety of the operation, the medi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1633B25J9/1607
Inventor 甘博涵许靖乔天文理为杜思傲董旭亮荣健
Owner HANGZHOU JOINTECH LTD
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