Robot control method and robot system
A control method and robot technology, applied in the field of robots, can solve problems such as inaccurate force, lower robot control precision, robot changes, etc., and achieve the effect of improving rationality
Active Publication Date: 2022-01-07
遨博(北京)智能科技股份有限公司
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Problems solved by technology
[0003]
However, since the position information and stiffness information of the target object that the robot acts on usually changes, for example, in the process of massaging the human body, it may be due to changes in human emotions and muscle changes caused by muscle reactions. location will change with
Using the existing admittance control model to control the robot can not deal with the problem of the change of the position information and stiffness information of the target object well, which leads to the inaccurate force of the robot acting on the target object at each moment, which reduces the Precision of robot control
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[0050] In order to make the purpose, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only It is a part of the embodiments of the present disclosure, but not all of them. The components of the disclosed embodiments generally described and illustrated herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the present disclosure is not intended to limit the scope of the claimed disclosure, but merely represents selected embodiments of the present disclosure. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative effort shall fall wi...
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The invention provides a robot control method and a robot control system. The method comprises the following steps of obtaining corresponding first target acting force of a robot at a previous moment, and processing the first target acting force to obtain corresponding second target acting force of the robot at a current moment, wherein the corresponding first target acting force at the initial moment is input expected acting force; based on the second target acting force and collected corresponding actual acting force of the robot at the previous moment, determining corresponding proportional control information for conducting position adjustment at the current moment; and based on the corresponding proportional control information at the current moment, preset integral control information, preset differential control information and corresponding target environment information of the robot at the current moment, determining corresponding control position information of the robot at the current moment, and conducting position control on the robot by using the control position information.
Description
technical field [0001] The present disclosure relates to the technical field of robots, and in particular, to a robot control method and a robot system. Background technique [0002] With the development of robot technology, various robots have been widely used, for example, using intelligent robots to perform surgery, massage the human body, and polish ultra-thin aircraft wings. In order to improve the rationality and accuracy of the force that the robot acts on the target object, the admittance control model is usually used in the prior art to control the force of the robot. [0003] However, since the position information and stiffness information of the target object that the robot acts on usually changes, for example, in the process of massaging the human body, it may be due to changes in human emotions and muscle changes caused by muscle reactions. The location will change accordingly. Using the existing admittance control model to control the robot can not deal with...
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Login to View More IPC IPC(8): B25J9/16B25J11/00B25J19/00
CPCB25J9/16B25J11/00B25J19/00
Inventor 魏洪兴刘程果李泽宇刘刚
Owner 遨博(北京)智能科技股份有限公司