Robot and torque compensation method
A compensation method and robot technology, applied in the field of robots, can solve problems such as continuous robot motion, and achieve the effect of solving continuous motion and reducing difficulty
Active Publication Date: 2022-07-12
BEIJING A&E TECH
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Problems solved by technology
[0005] This application provides a torque compensation method for a robot, which performs static friction torque compensation when the user applies external force to start dragging the robot, dynamic friction torque compensation when the user drags the robot, and resistance torque compensation when the user removes the external force. Make it easier for the user to start dragging the robot, and also solve the problem of the robot continuing to move when the force is removed
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[0030] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.
[0031] see figure 1 , figure 1 It is a schematic flowchart of an embodiment of a robot torque compensation method provided by this application, and the method includes:
[0032] S110: Obtain the current speed of the robot.
[0033] The speed of the motor of each axis of the robot reflects the current speed of the robot. In one application scenario, the obtained current speed of the robot is the average value of the speeds of the moto...
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The present application discloses a robot and a torque compensation method thereof. The method includes: when the current speed of the robot is greater than the initial speed of kinetic friction compensation, performing kinetic friction torque compensation on the robot; when the current speed of the robot is less than the initial speed of kinetic friction compensation, Determine whether the robot is subjected to external force at the current moment; if the robot is subjected to external force at the current moment, the robot will perform static friction torque compensation; if the robot is not subjected to external force at the current moment, continue to judge whether the robot performs dynamic friction torque compensation at the moment before the current moment; At the moment before the current moment, the robot is compensating for the kinetic friction torque, and the resistance torque compensation is performed on the robot; if the robot does not perform the kinetic friction torque compensation at the moment before the current moment, the torque compensation is not performed on the robot. The method of the present application can not only reduce the difficulty for the user to start dragging the robot, but also solve the problem that the robot continues to move when the external force is removed.
Description
technical field [0001] The present application relates to the field of robotics, and in particular, to a robot and a torque compensation method thereof. Background technique [0002] Drag teaching, also known as direct teaching or manual teaching, is one of the main ways of human-robot collaboration, that is, people directly complete the teaching and programming of robots by manual dragging. The traditional teaching method mainly relies on the teach pendant, which has the disadvantages of low work efficiency, cumbersome and unoptimistic process, and high requirements for the operator's knowledge level. Compared with the traditional teaching method, drag teaching is more intuitive, and the requirements for on-site operators are greatly reduced. [0003] In the process of dragging and teaching, the position of each joint of the robot remains constant, and the output torque of each joint almost perfectly offsets its own gravity moment, inertia moment and friction moment. At t...
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IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/16B25J9/0081B25J9/1628B25J9/1633
Inventor 魏晓晨
Owner BEIJING A&E TECH