Robot real-time motion planning method based on force feedback

A motion planning, robotics technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as failure to stop, not considering the rated torque constraints of the manipulator, and motion oscillations

Active Publication Date: 2020-10-23
BEIJING SATELLITE MFG FACTORY
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Problems solved by technology

[0005] The technical problem solved by the present invention is: in the current prior art, using segmental linear mapping between the force at the end of the mechanical arm and the periodical attitude correction amount to perform compliant force follow-up control on the mechanical

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  • Robot real-time motion planning method based on force feedback
  • Robot real-time motion planning method based on force feedback
  • Robot real-time motion planning method based on force feedback

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Embodiment Construction

[0049] A real-time motion planning method for robots based on force feedback. Aiming at the problem that the mechanical arm cannot move smoothly in the case of large periodic attitude corrections, the existing piecewise linear force-position control method is corrected, such as figure 1 As shown, the specific steps are:

[0050] (1) Use a six-dimensional force sensor for data collection, and obtain the component forces f of the X, Y, and Z axes in the base coordinate system of the manipulator after gravity compensation and coordinate transformation X , f Y , f Z , and according to the component force f X , f Y , f Z Obtain the external force f in the base coordinate system of the manipulator;

[0051] Wherein, the coordinate system of the six-dimensional force sensor coincides with the X and Y axes of the tool coordinate system of the manipulator respectively, and the calculation method of the external force is: subtract the load gravity at the end of the manipulator from...

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Abstract

The invention provides a robot real-time motion planning method based on force feedback. Aiming at solving the problem that under the large periodic attitude correction, a mechanical arm cannot conduct smooth plus/minus motion, an existing piecewise linear force position control method is corrected. A six-component force sensor is adopted to sense external acting force to obtain each periodic attitude target correction of all axes of a coordinate system; and the maximum increment of the periodic attitude correction during stable operation of all the coordinate axes is determined as the interpolation stride cardinal number of each periodic attitude correction of all the axes, finally through force position conversion, the periodic attitude target correction of all the axes is subjected to interpolation approximation, shocking caused by the change of the motion state during starting or stopping of the mechanical arm is avoided, and smooth motion in the force control process of the mechanical arm is achieved.

Description

technical field [0001] The invention relates to a real-time motion planning method for a robot based on force feedback, and belongs to the technical field of control engineering. Background technique [0002] Robot is a kind of large-load, high-precision automatic mechanical system, and it is more and more applied to the field of processing and assembly. However, in some processing and assembly fields, traditional teaching is difficult to meet the accuracy requirements, takes a long time, and has poor environmental adaptability. The robot active compliance control system based on force feedback is composed of a manipulator, a manipulator control cabinet, a force sensor installed at the end of the manipulator, and a host computer control system. It can follow the external force for flexible motion and realize the flexibility of the posture of the end parts of the manipulator. Adjustment. [0003] In the study of robot compliance force control, it is found that in order to r...

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1633
Inventor 张加波徐建萍赵长喜刘净瑜乐毅
Owner BEIJING SATELLITE MFG FACTORY
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