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Speed ​​limit method, device, electronic equipment and medium for dragging and teaching of mechanical arm joints

A technology of dragging and teaching and manipulator, applied in the field of manipulator, can solve problems such as safety risks, and achieve the effect of preventing dragging speed from being too fast and avoiding safety risks.

Active Publication Date: 2022-01-11
SHENZHEN YUEJIANG TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The main purpose of the present invention is to propose a speed-limiting method for dragging and teaching of mechanical arm joints, aiming to solve the safety risk problem caused by the excessive speed of the existing mechanical arm joints when dragging and teaching

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  • Speed ​​limit method, device, electronic equipment and medium for dragging and teaching of mechanical arm joints
  • Speed ​​limit method, device, electronic equipment and medium for dragging and teaching of mechanical arm joints
  • Speed ​​limit method, device, electronic equipment and medium for dragging and teaching of mechanical arm joints

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Embodiment Construction

[0059] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present invention, but cannot be construed as limitations to the present invention. Based on the embodiments in the present invention, those skilled in the art do not make creative work premise All other embodiments obtained below all belong to the protection scope of the present invention.

[0060] The dragging and teaching speed limiting method of the joints of the manipulator proposed by the present invention is applicable to multi-joint robots, such as three-axis joint robots, four-axis joint robots, five-axis joint robots, six-axis joint robots and seven-axis joint robots. The multi-joint rob...

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Abstract

The invention discloses a drag teaching speed limit method of a mechanical arm joint, comprising: obtaining the actual drag speed of the joint; when the actual drag speed exceeds the preset safe drag speed; Adjust the torque, the direction of the adjusted torque is opposite to the current motion direction of the joint; convert the adjusted torque into a motion control command of the joint motor, and send it to the joint motor. The drag teaching speed limit method of the mechanical arm joints proposed by the present invention, when the mechanical arm is dragged and taught, if the actual drag speed of the joint exceeds the safe drag speed, the joint motor will generate a speed that is different from the drag direction. Opposite resistance to reduce the dragging speed of the mechanical arm joints, prevent the dragging speed of the mechanical arm joints from being too fast, and avoid safety risks caused by too fast speeds. In addition, the invention also discloses a drag teaching speed limiting device for a mechanical arm joint, electronic equipment and a medium.

Description

technical field [0001] The invention relates to the field of manipulators, in particular to a method, device, electronic equipment and medium for dragging and teaching speed limiting of joints of a manipulator. Background technique [0002] Drag teaching is also called manual teaching. The operator directly completes the teaching and programming work of the robotic arm by manually dragging, and then the robotic arm can trigger the instruction of repeatedly executing the teaching trajectory according to external signals. [0003] When dragging and teaching the robot arm, you need to click the teach button first, so that the robot arm enters the drag teaching mode. After the robotic arm enters the drag teaching mode, the operator drags the robotic arm to move to the desired position, and during the process of the robotic arm being dragged, the robotic arm will record and save its motion pose or trajectory in real time , so as to complete the dragging and teaching process for ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/16B25J17/00B25J18/00
CPCB25J9/0081B25J9/161B25J9/1664B25J17/00B25J18/00
Inventor 姜宇黄睿郎需林林炯辉刘主福刘培超
Owner SHENZHEN YUEJIANG TECH CO LTD
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