A robot joint module driver and its control method

A technology of robot joints and control methods, which is applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve the problems of low relative torque accuracy, difficult to obtain the stiffness value of the reducer, and large stiffness value of the reducer, etc. Joint control performance, improved torque control performance, small size effect

Active Publication Date: 2022-02-22
ZHEJIANG LAB
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the stiffness value of the reducer is not easy to obtain, and the stiffness value of the reducer is generally very large. When the resolution of the encoder is not high, the accuracy of the estimated relative torque is not high, especially when the output torque is small.

Method used

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  • A robot joint module driver and its control method
  • A robot joint module driver and its control method
  • A robot joint module driver and its control method

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Embodiment Construction

[0045]The present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments, and the purpose and effect of the present invention will become clearer. It should be understood that the specific embodiments described here are only used to explain the present invention and are not intended to limit the present invention.

[0046] like figure 1 As shown, it is a schematic diagram of the structure of the joint module based on the driver of the present invention. The driver of the present invention includes a driver circuit board 1, a grating code disc 4 and a magnetic block 5, and the grating code disc 4 is installed on the rotating shaft of the motor end of the joint module. , the magnetic block 5 is fixed on the output hollow rotating shaft of the reducer of the joint module; the driver circuit board 1 is fixed on the joint module, which includes a position detection module composed of a photoelectric induction unit 2 and a ma...

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Abstract

The invention discloses a driver for a robot joint module and a control method thereof. The driver is highly integrated with a magnetic induction unit and an optical induction unit. Cooperating with a grating and a magnetic block, it can be used to respectively detect the positions of the motor end and the output end of the joint module, and improve joint control. At the same time, the performance is guaranteed to be smaller and the cost is reduced. At the same time, in the control method provided by the present invention, the innermost loop directly performs closed-loop control on the torque, and comprehensively uses two methods of estimating the torque, the current and the double encoder, which can improve the torque control ability of the driver and further improve the torque of the joint. Module control performance.

Description

technical field [0001] The invention belongs to the technical fields of motor control and robot control, and in particular relates to a robot joint module driver and a control method thereof. Background technique [0002] The joint module composed of motor, reducer, driver, encoder, etc. is one of the core components of the robot, and is widely used in legged robots, industrial robots and other fields. With the development of technology and the improvement of application requirements, people have higher and higher requirements for the structure size and performance of the joint drive module, which also puts forward higher requirements for the drive of the joint module. [0003] In order to reduce the structural size of the joint drive module, one way is to integrate a magnetic induction chip on the drive and cooperate with the magnetic block to detect the position, such as the MIT Mini Cheetah joint drive module. This way of highly integrating the driver and the encoder can...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J17/02B25J13/00
CPCB25J9/1602B25J9/1607B25J17/02B25J13/00
Inventor 华强姚运昌钱坤谢安桓孔令雨张丹
Owner ZHEJIANG LAB
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