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Robot control method, 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: 2022-07-29
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, device, robot and readable storage medium
  • Robot control method, device, robot and readable storage medium
  • Robot control method, device, robot and readable storage medium

Examples

Experimental program
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Effect test

Embodiment 1

[0067] For an example of this application, please refer to figure 1 , propose a robot control method, including steps S100, S200 and S300:

[0068] S100: When the robot clamps the load, determine the current actual internal force and the current actual external force according to the actual generalized force obtained by the force sensors 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 to conform to the load generating position.

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

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

Embodiment 2

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

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

[0147] S400: In the case that the reference acceleration of the movement of the robot gripping the load is not zero, use the gravity of the load and the reference acceleration to determine an acceleration movement compensation amount.

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

Embodiment 3

[0155] For an example of this application, please refer to Figure 9 , proposes a robot control device 10 comprising: a determination module 11 , a compensation module 12 and a control module 13 .

[0156] The determination module 11 is configured to determine the current actual internal force and the current actual external force according to the actual generalized force obtained by the force sensors 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 to hold the load, the current actual external force is used to control each mechanical arm of the robot to make the load generate position compliance; the compensation module 12 is used to utilize the gravity of the load, the center of mass parameter of the load, the The current position of the end of each manipulator of the robot and the predetermined reference position of the end of each manipulator of the robot compensate the current act...

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PUM

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Abstract

The present application discloses a robot control method, device, robot and readable storage medium. When the robot clamps the load, the current actual internal force and the current actual external force are determined according to the actual generalized force obtained by the force sensors at the end of each mechanical arm of the robot, and the gravity of the load, the parameter of the center of mass of the load, and the end of each mechanical arm of the robot are used to determine the current actual internal force and the current actual external force. The current position of the robot and the predetermined reference position of the end of each mechanical arm of the robot compensate the current actual external force to obtain the current corrected external force. The external force, the current actual internal force, the predetermined desired gripping force, and the predetermined reference position of the end of each mechanical arm of the robot control the coordinated movement of the respective mechanical arms of the robot. By compensating the current actual external force to avoid the load gravity and gravity moment from affecting the pose of the load gripped by the robot.

Description

technical field [0001] The present invention relates to the field of robots, and in particular, to a robot control method, a device, a robot and a 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 operation tasks than single-arm robots. Due to the dual-arm robot, 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 and right arms of the dual-arm robot. [0003] Due to the influence of the gravity of the clamped load, the existing dual-arm robot will decompose the external force even if it is not affected by the external force due to the influence of ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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