Robot null-space dragging teaching method and teaching device

Abstract

The invention provides a robot null-space dragging teaching method. The robot null-space dragging teaching method comprises the steps that according to the pose of an end effector of a robot, the null-space of the robot about the pose of the end effector is obtained; the current position and the current speed of each connecting rod are obtained, a current Jacobian matrix of the robot is obtained according to the current positions of the connecting rods, and the null space motion direction is obtained according to the current Jacobian matrix of the robot; according to the external force borne by the robot and the null-space motion direction, a null-space motion rule is obtained; and the robot is controlled according to the null-space motion rule. The invention further provides a robot null-space dragging teaching device, electronic equipment and a readable storage medium.

Description

technical field [0001] The disclosure relates to a robot zero-space drag teaching method and a teaching device, which belong to the technical field of robot control. Background technique [0002] When the data of the robot's motion degree of freedom is greater than the data of the task dimension, the robot is a redundant degree of freedom robot. For a robot with redundant degrees of freedom, the generalized coordinate q representing the robot’s degree of freedom (in the case of a serial robot, that is, the angle of each joint) and characterizing the robot’s task space position (generally the position and attitude of the robot’s end tool in Cartesian space ) is a many-to-one (generally infinite many-to-one) mapping between coordinates x. All q corresponding to the same x form a subspace called the null space of the robot. [0003] In the prior art, for seven-degree-of-freedom robots, the robot teaching is generally realized in the Cartesian impedance control mode. It is nec...

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Problems solved by technology

Therefore, in the impedance mode, the positional stiffness of the end of the robot is limited. In this mode, when the user applies an external force to perform zero-space drag teaching on the robot body, it is easy to cause the pose deviation of the end tool.

[0005] Moreover, in this mode, the robot cannot actively control the acceleration / velocity of each axis of the robot. If the user applies a large external force and the robot moves in compliance with the external force in zero space, the movement speed and acceleration of some joints will easily exceed the speed of the joint. Restriction, causing the robot to stop alarming, affecting the safety and fluency of this function

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