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Sensorless robot dragging teaching method and system

A robot system and drag teaching technology, which is applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of dragging stuttering and large joint static friction, so as to improve the coefficient of friction and avoid dragging stuttering , Reduce the complexity and cost of the organization

Pending Publication Date: 2021-11-05
安徽元古纪智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is that in the prior art sensorless robot drag teaching method, when the joint movement speed is small, the static friction force of the joint is relatively large, which easily leads to the problem of dragging stuck

Method used

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  • Sensorless robot dragging teaching method and system
  • Sensorless robot dragging teaching method and system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0048] A sensorless robot drag teaching method, suitable for six-axis industrial robots or collaborative robots, the robot includes several joints, each joint is equipped with a motor, the motor needs to support two modes of torque and position, the robot is 6 One of the axis industrial robots or collaborative robots.

[0049] The method comprises the steps of:

[0050] S1: Carry out dynamic modeling according to the characteristics of the robot, and construct the dynamic equation of the robot arm; the step S1 includes: setting the working mode of the joint servo drive to the position mode,

[0051] by formula

[0052] Construct the dynamic equation of the robot system, where τ represents the output torque of the motor after the reducer, M(θ) represents the inertia matrix, Represents the centrifugal force and Coriolis force matrix, G(θ) represents the gravity term, θ represents the joint angle, represents the first derivative of θ, Denotes the second derivative of θ, ...

Embodiment 2

[0063] Such as figure 2 As shown, based on Embodiment 1 of the present invention, Embodiment 2 of the present invention also provides a sensorless robot drag teaching system, which includes:

[0064] The modeling and parameter identification module is used to perform dynamic modeling and parameter identification on the robot according to the characteristics of the robot, and solve the dynamic equation of the robot system;

[0065] The torque calculation module is used to collect the position and speed of each joint in real time, calculate the current torque of each joint according to the dynamic equation of the robot system, and send the calculated current torque of each joint to the servo driver of each joint; When the speed of the joint is lower than the preset threshold, the auxiliary torque is used to update the joint friction torque in the dynamic equation of the robot system, and when the speed of the joint exceeds the preset threshold, the application of the auxiliary ...

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Abstract

The invention discloses a sensorless robot dragging teaching method and system. The method comprises the steps that dynamic modeling is carried out according to the characteristics of a robot, and a dynamic equation of a mechanical arm of the robot is constructed; in the process of dragging the robot, the position and speed of each joint are collected in real time, the current moment of each joint is calculated according to a kinetic equation of a robot system, and the calculated current moment of each joint is sent to each joint servo driver; and the robot begins to be dragged from a static state, when the speed of each joint is lower than a preset threshold value, the joint friction torque in a kinetic equation of the robot system is updated through the auxiliary torque, and when the speed of each joint exceeds the preset threshold value, application of the auxiliary torque is stopped. The method has the advantages that sensorless robot dragging teaching is achieved, when the joint movement speed is lower, the moment of each joint is updated through the auxiliary moment, the friction coefficient is increased, and dragging jamming is avoided.

Description

technical field [0001] The invention relates to the field of robot control, and more particularly relates to a sensorless robot drag teaching method and system. Background technique [0002] At present, robots are widely used in manufacturing and service fields. Robots can replace humans to perform some highly repetitive, high-risk and high-intensity tasks, which greatly improves work efficiency. In general, in order for a robot to perform a specific task, it needs to be taught to the robot. There are three main methods of robot teaching: teach pendant teaching, offline teaching and direct teaching. Teach pendant teaching and offline teaching require the operator to have certain professional basic knowledge, and the operation efficiency is low and the complexity is high. Direct teaching can avoid the above disadvantages. By directly pulling the robot to the target point or moving along the task trajectory, it has the advantages of high efficiency and easy operation. [00...

Claims

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Application Information

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IPC IPC(8): B25J9/22
CPCB25J9/0081B25J9/163
Inventor 夏科睿彭超马姓
Owner 安徽元古纪智能科技有限公司
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