A robot force control method and device using dual encoders
A technology of human control and robot, which is applied in the direction of program control manipulator, manipulator, manufacturing tools, etc., and can solve the problem of low control precision of robot joints
Active Publication Date: 2022-02-18
前元运立(北京)机器人智能科技有限公司
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[0003] The purpose of the present invention is to provide a robot force control method and device using dual encoders to improve the problem of low control precision of robot joints in the prior art
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[0044] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, not all of them. The components of the embodiments of the application generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.
[0045] Accordingly, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art w...
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The invention provides a robot force control method and device using double encoders, and relates to the technical field of intelligent control. The method includes: acquiring target motion data of the robot, actual motion data of the robot and preset parameters of a reducer in the robot. Input the target motion data, actual motion data and preset parameters into the reducer model to obtain the controlled vector. According to the proportional integral differential control algorithm and the friction model, the controlled vector is controlled and calculated to obtain the control quantity used to control the driving motor in the robot. According to the reducer model, the target motion data, actual motion data and preset parameters are calculated to obtain the controlled vector, and then the proportional integral differential control algorithm and the friction model are used to control and calculate the controlled vector, and the friction force is also considered as a control factor In order to improve the control accuracy and ensure the accurate control of the robot's motion position and strength.
Description
technical field [0001] The invention relates to the technical field of intelligent control, in particular to a robot force control method and device using dual encoders. Background technique [0002] With the rapid development of artificial intelligence and the Internet, intelligent robot technology has developed by leaps and bounds, and is widely used in education, industry, medical care, transportation, security, electric power and many other fields, reflecting broad application scenarios and development space. At present, most common robots use a joint single encoder, and the encoder is equipped on the motor. When modeling the robot, errors will occur due to the flexible deformation of the reducer, which will lead to limited precision in the control of the joint position. In addition, the common other One way is to use a joint single encoder control method, but this method cannot directly calculate the torque of the joint, and needs to be equipped with a torque sensor for...
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IPC IPC(8): B25J9/16
CPCB25J9/1633
Inventor 陈恺勋杨立豪刘立
Owner 前元运立(北京)机器人智能科技有限公司