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Robot control method and device, robot and readable storage medium

A control method and robot technology, applied in the field of robots, can solve problems such as position deviation and achieve the effect of avoiding position compliance

Active Publication Date: 2021-12-17
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Due to the influence of the gravity of the clamped load, the existing dual-arm robot controls the dual arms. When the dual arms clamp the load, even if no external force is applied, the external force will be decomposed, causing the robot to decompose the clamped load following the load gravity. The external force comes out to move, which will lead to a large position deviation when the robot clamps the load due to the influence of the gravity of the load when the robot clamps the load.

Method used

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  • Robot control method and device, robot and readable storage medium
  • Robot control method and device, robot and readable storage medium
  • Robot control method and device, robot and readable storage medium

Examples

Experimental program
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Effect test

Embodiment 1

[0067] For an example of this application, see figure 1 , a robot control method is proposed, including steps S100, S200 and S300:

[0068] S100: When the robot clamps a load, determine the current actual internal force and the current actual external force according to the actual generalized force obtained by the force sensor at the end of each mechanical arm of the robot.

[0069] Wherein, the current actual internal force is used to clamp the load, and the current actual external force is used to control each mechanical arm of the robot so that the load generates position compliance.

[0070] The current actual internal force and the current actual external force can be determined by:

[0071] Obtain each actual generalized force obtained by the force sensor at the end of each mechanical arm in a predetermined coordinate system; obtain each vector from the center point of the contact surface between each end of the mechanical arm and the load to the center of mass of the l...

Embodiment 2

[0145] In another embodiment of the present application, when the reference acceleration of the robot clamping the load is not zero, the gravity of the load and the current reference acceleration are used to compensate the end of the expected clamping force, and the current actual internal force The smaller end is compensated, and the current actual external force is smaller, so as to ensure that the arms of the robot can stably hold the load and avoid the load from falling.

[0146] Further, see Figure 8 , propose another robot control method, including the following steps after the above steps S100 and S200:

[0147] S400: In a case where the reference acceleration of the movement of the robot clamping the load is not zero, determine an acceleration motion compensation amount by using the gravity of the load and the reference acceleration.

[0148] Acceleration motion compensation amount = G*g*|a|=m*|a|, G is the gravity of the load, g is the reference acceleration of grav...

Embodiment 3

[0155] For an example of this application, see Figure 9 , it is proposed that a robot control device 10 includes: a determination module 11 , a compensation module 12 and a control module 13 .

[0156] The determination module 11 is used to determine the current actual internal force and the current actual external force according to the actual generalized force obtained by the force sensor at the end of each mechanical arm of the robot when the robot clamps the load, wherein the current actual internal force is used for clamping The load is supported, and the current actual external force is used to control each mechanical arm of the robot so that the load generates position compliance; the compensation module 12 is used to use the gravity of the load, the center of mass parameter of the load, the The current position of the end of each mechanical arm of the robot and the predetermined reference position of the end of each mechanical arm of the robot compensate the current a...

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PUM

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Abstract

The invention discloses a robot control method and device, a robot and a readable storage medium. When the robot clamps a load, the current actual internal force and current actual external force are determined according to the actual generalized force obtained by force sensors at the tail ends of all mechanical arms of the robot. the current actual external force is compensated for through the gravity of the load, the mass center parameter of the load, the current position of the tail end of each mechanical arm of the robot and the preset reference position of the tail end of each mechanical arm of the robot so that the current correction external force can be obtained, and under the condition that the reference acceleration of the robot clamping the load movement is zero, all the mechanical arms of the robot are controlled to move cooperatively in accordance with the current correction external force, the current actual internal force, the preset expected clamping force and the preset reference position of the tail end of each mechanical arm of the robot. The current actual external force is compensated for to prevent the load gravity and the gravitational torque from influencing the pose of the load clamped by the robot.

Description

technical field [0001] The invention relates to the field of robots, in particular to a robot control method, device, robot and readable storage medium. Background technique [0002] With the continuous improvement of the level of industrial automation, the application field of robots is developing in a deeper and wider direction. The intelligence of robots is particularly important in industrial production. In the field of industrial production, dual-arm robots can complete more complex operational tasks than single-arm robots. Because the dual-arm robot has dual arms, the control of the dual-arm robot is more complicated than that of the single-arm robot. The control system of the dual-arm robot needs to coordinately control the left arm and the right arm of the dual-arm robot. [0003] Due to the influence of the gravity of the clamped load, the existing dual-arm robot controls the dual arms. When the dual arms clamp the load, even if no external force is applied, the e...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J13/08
CPCB25J9/1661B25J9/1633B25J9/1612B25J9/161B25J13/085
Inventor 曾献文熊友军刘益彰陈金亮张美辉
Owner UBTECH ROBOTICS CORP LTD