A real-time motion planning method for robots based on force feedback

A motion planning, robotics technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of not considering the rated torque constraint of the manipulator, motion shock, failure shutdown, etc., to improve the quality of processing and assembly, smooth acceleration, eliminate Effects of Data Acquisition Noise

Active Publication Date: 2022-01-04
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 arm, the motion shock and failure shutdown that are prone to occur , relying solely on the theoretical model without considering the actual rated torque constraints of each axis of the manipulator, a real-time motion planning method for robots based on force feedback is proposed

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  • A real-time motion planning method for robots based on force feedback
  • A real-time motion planning method for robots based on force feedback
  • A real-time motion planning method for robots 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

A real-time motion planning method for a robot based on force feedback, aiming at the problem that the robot arm cannot smoothly add / subtract motion under a large periodic attitude correction amount, the existing piecewise linear force position control method is modified. The six-dimensional force sensor is used to sense the external force, and the target attitude correction amount per cycle of each axis of the coordinate system is obtained; and the interpolation step of the attitude correction amount per cycle of each axis is determined by incrementing the maximum period attitude correction amount when each coordinate axis is running stably. Finally, through force-position conversion and interpolation, the periodic attitude target correction amount of each axis is approximated, which avoids the vibration caused by the change of motion state when the robot arm starts or stops, and realizes the smooth movement in the process of force control of the robot arm.

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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Patent Type & Authority Patents(China)
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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