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Robot teaching method based on joint motor speed control

A technology of speed control and teaching method, applied in the field of control, can solve the problems of reducing robot stiffness and high cost

Inactive Publication Date: 2021-09-03
SHANGHAI ROBOT IND TECH RES INST CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Using force sensors to sense external forces to complete direct teaching is costly and will reduce the rigidity of the robot to a certain extent

Method used

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  • Robot teaching method based on joint motor speed control
  • Robot teaching method based on joint motor speed control
  • Robot teaching method based on joint motor speed control

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Embodiment Construction

[0024] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is carried out on the premise of the technical solution of the present invention, and detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.

[0025] Such as figure 1 As shown, the present invention discloses a robot teaching method based on joint motor speed control, aiming to realize simple, effective and low-cost direct teaching of forceless sensors. Contains the following steps:

[0026] (1) Measure the torque constant of each joint motor of the robot, and calculate the driving torque of the joint motor according to the joint current during the motion process.

[0027] (2) Establish the joint gravity model, joint friction model and teaching external torque model according to the technical plan.

[0028] (3) Deduce the...

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Abstract

The invention relates to a robot teaching method based on joint motor speed control. A torque constant of each joint motor of a robot is measured, the unknown external force is applied to the tail end or any joint of the robot, and the joint driving torque is calculated according to the joint current in a movement process; the estimated teaching external torque is deduced through a joint gravity model, a joint friction force model and a joint driving torque, a mapping relation between the teaching external torque and the joint expected speed is established, the obtained joint expected speed is issued to a server, all joints of the robot generate compliant motion, and simple, effective and low-cost direct demonstration without a force sensor is realized. Direct teaching of the collaborative robot can be realized quickly and easily; and application of the collaborative robot technology in various occasions can be further developed.

Description

technical field [0001] The invention relates to a control technology, in particular to a robot teaching method based on joint motor speed control. Background technique [0002] In the field of collaborative robots, the teaching methods of traditional collaborative robots are mainly servo-level on-on teaching and power-level off-teaching. When the power level is off from teaching, the joint motor driver is in a disengaged state, and the operator needs to overcome the gravity and friction of the joints. It is more laborious and limited to teach the joint force. The joints are under servo control during servo-level teaching, and the joint force compensation is realized through the servo force of the motor, which is easier and more effective. [0003] At this stage, the servo-level teaching is divided into two methods: force sensor and force sensor. Using a force sensor to sense external force to complete direct teaching is costly and will reduce the rigidity of the robot to a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/0081B25J9/1633
Inventor 周梅杰熊学胜
Owner SHANGHAI ROBOT IND TECH RES INST CO LTD