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Robot control method, device and equipment based on friction force

A control method and friction technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of high cost, increased structural complexity, lack of economy and versatility, etc., and achieve low cost and high control accuracy. Effect

Active Publication Date: 2021-10-19
THE CHINESE UNIV OF HONG KONG SHENZHEN
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] However, this method of adding a force / torque sensor increases the structural complexity and leads to higher costs, and does not have good economy and versatility

Method used

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  • Robot control method, device and equipment based on friction force
  • Robot control method, device and equipment based on friction force
  • Robot control method, device and equipment based on friction force

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Experimental program
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Effect test

Embodiment 2

[0087] Figure 7 A schematic diagram of an observed current provided in the embodiment of the present application; Figure 8 A schematic structural diagram of a motor torque constant calibration system provided in the embodiment of the present application; Figure 9 It is a connection schematic diagram of a motor torque constant calibration system provided in the embodiment of the present application.

[0088] On the basis of the above-mentioned embodiments, the embodiment of the present application provides a specific implementation manner of measuring and identifying the electrical parameters of the joint motor and the structural parameters of the target robot joint. It should be noted that in practical applications, different types of motors and robot applications are not limited to the identification methods provided in the embodiments of the present application.

[0089] Measure phase resistance R S The specific way can be to use a multimeter to measure the line resist...

Embodiment 3

[0137] Figure 10 A kind of provided for the embodiment of this application Figure 6 A flowchart of a specific implementation manner of step S601.

[0138] In addition to the identification of the electrical parameters and structural parameters mentioned above, it is also necessary to identify the friction parameters of the joint (combination of joint motor and reducer), which serves as an important friction model reference for further identification of the moment of inertia of the joint.

[0139] Specifically, such as Figure 10 As shown, in step S601, based on the electrical parameters of the joint motors of the target robot and the structural parameters of the joints of the target robot, a friction force identification model for motion parameters and friction of the joint motors is established, which may specifically include:

[0140] S1001: Obtain the motor torque constant of the joint motor.

[0141] S1002: Perform speed control on the joint motors to obtain a set of ...

Embodiment 4

[0169] Embodiment 3 of the present application provides an optimized steady-state friction model, which can cover the friction identification accuracy of high-speed and low-speed operation. For the scene where the force control performance is not high, in order to simplify the calculation, the joint rotation dynamic model given in the second embodiment of the present application can be used to determine the friction force. Then in step S601, based on the electrical parameters of the joint motors of the target robot and the structural parameters of the joints of the target robot, a friction force identification model for motion parameters and friction of the joint motors is established, which may specifically include:

[0170] Obtain the motor torque constant of the joint motor;

[0171] Establish the joint rotation dynamics model of the joint motor according to the motor torque constant;

[0172] Carry out inverse M-sequence position control on the joint motor, collect motor ...

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Abstract

The invention discloses a robot control method, device and equipment based on friction force and a computer readable storage medium. The robot control method comprises the steps that a friction force identification model of motion parameters and friction force of a joint motor is indirectly established on the basis of electrical parameters of the joint motor of a target robot and structural parameters of the joint of the target robot in advance; in the actual control process, real-time motion parameters of the joint motor are obtained; the real-time motion parameters are substituted into the friction force identification model, and real-time friction force data are obtained; actual force control data of the joint motor are obtained through calculation according to the real-time friction force data and force control target data of the joint motor; and the joint motor is controlled according to the actual force control data. According to the robot control method based on the friction force, robot joint control based on the friction force can be achieved without additionally installing a force / torque sensor, and the beneficial effects of being high in control precision and low in cost are achieved.

Description

technical field [0001] The present application relates to the technical field of robot control, in particular to a friction-based robot control method, device, equipment, and computer-readable storage medium. Background technique [0002] figure 1 It is a structural schematic diagram of the driving part of a rope-driven joint robot; figure 2 for figure 1 The front view of the driving part of the rope-driven joint robot shown; image 3 for figure 1 The side view of the driving part of the shown rope-driven joint robot; Figure 4 for figure 1 Schematic diagram of another angle structure of the driving part of the rope-driven joint robot shown; [0003] Figure 5 It is a schematic diagram of the connection of the driving part of a rope-driven joint robot provided in the embodiment of the present application. Such as Figure 1-4 As shown, the driving part of the rope-driven joint robot is mainly composed of joint motor 101, driver 102, reducer 103, rope winch 104, enco...

Claims

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Application Information

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IPC IPC(8): B25J9/10B25J9/16
CPCB25J9/104B25J9/1602
Inventor 丁宁郝万鈞张爱东
Owner THE CHINESE UNIV OF HONG KONG SHENZHEN
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