Force control method and device of industrial robot and application thereof

A technology of industrial robots and control methods, which is applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., and can solve the problems of damage to tool workpieces, high rigidity, etc.

Active Publication Date: 2021-05-18
上海新时达机器人有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The reason why it is difficult to use industrial robots for assembly tasks is that the robot uses position control, which exhibits a relatively large rigidity, and there is a possibility of damaging tools or workpieces during the assembly process.

Method used

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  • Force control method and device of industrial robot and application thereof
  • Force control method and device of industrial robot and application thereof
  • Force control method and device of industrial robot and application thereof

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Embodiment Construction

[0021] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0022] According to an aspect of an embodiment of the present invention, a force control method for an industrial robot is provided, comprising the following steps:

[0023] Real-time calculation of the force control pose deviation Xi at the end of the robot:

[0024] Xi=1 / D*LP*(S*(Fd-Ff)+K*(Xf-Xd))*1 / s

[0025] 1 / D is the damping coefficient, LP is the filter coefficient of the low-pass filter, S is the preset force control degree of freedom selection matrix, Fd is the expected contact force at the end of the robot, Ff is the actual contact force at the current end of the robot, and K is Predetermined stiffness matrix, Xf is the current end actual pose of the robot, Xd is the end expected pose of the robot, s is the Laplacian operator;

[0026] Sum the calculated force control pose deviation Xi and the robot's expected end pose Xd, and sol...

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Abstract

The invention discloses a force control method and device of an industrial robot and application thereof. The force control method comprises the steps that the force control pose deviation value Xi of a tail end of the robot is calculated in real time, the calculated force control pose deviation value Xi and the expected pose Xd of the tail end of the robot are summed, inverse kinematics solving is conducted on the summing result, motion control instructions of all joints of the robot are obtained, and the motion control instructions are used for controlling the robot to move. According to the method and the device, it can be guaranteed that the tail end of the industrial robot makes smooth contact with an external object, and the contact force of the tail end of the industrial robot and the external object is controlled within the expected force range.

Description

technical field [0001] The invention relates to force control technology of industrial robots. Background technique [0002] Assembly tasks have many application scenarios in industry, such as screw tightening, wire insertion, gear assembly, etc. The reason why it is difficult to use industrial robots for assembly tasks is that the robot uses position control, which exhibits relatively high rigidity, and there is a possibility of damage to tools or workpieces during the assembly process. Therefore, to use industrial robots for assembly tasks, it is necessary to give the robot a certain degree of compliance, and adjust the degree of compliance of the robot according to different assembly application scenarios to meet the assembly requirements. In order to make the robot have a certain degree of compliance to the external force / torque, it is necessary to perform force control on the industrial robot and use a force / torque sensor. The existing force / torque sensors are divided...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1633
Inventor李生邓洪洁林俐刘天华高欢孙锐
Owner上海新时达机器人有限公司