Gravity error evaluation method and device, plane compensation method and robot

Abstract

The embodiment of the invention discloses a gravity error evaluation method and device, a plane compensation method and a robot, and the method comprises the steps: obtaining the positions of a plan plane and an actual plane of a swing saw under different working conditions, and carrying out the calculation to obtain a preset number of initial distances between the plan plane and the actual plane, the plan plane is obtained by a gravity model for controlling the motion of the swing saw; performing gravity compensation by utilizing gravity item error values selected under different working conditions and the gravity model, and recording a corresponding gravity item error when the distance between the plan plane and the actual plane is 0 under each working condition; according to the recorded gravity item error and the corresponding initial distance, data analysis is carried out to establish a relation model between the plane distance and the gravity item error of the gravity model, and the relation model is used for calculating the gravity item error under the actual working condition. Therefore, the gravity error value can be obtained, and the stability of the plane is ensured.

Description

technical field [0001] The invention relates to the field of mechanical control, in particular to a gravity error evaluation method, device, plane compensation method and robot. Background technique [0002] During the grinding and positioning process of the knee joint plane, since the end effector of the robot is often loaded with various types of oscillating saws in actual use, the weights of various oscillating saws and saw blades are different. The usage habits in the cutting process also vary greatly. For example: some people tend to hold an oscillating saw and lift it up during the osteotomy process, and some people tend to hold the oscillating saw and push down to cut it. As a result, in the impedance mode, the robot model parameters There is an uncertainty in the gravitational term g(q). Therefore, it is necessary to ensure that the mechanical arm can be kept on a plane during the plane positioning process, so that the mechanical arm can eliminate the impact on the...

AI Technical Summary

Problems solved by technology

For example: some people tend to hold an oscillating saw and lift it up during the osteotomy process, and some people tend to hold the oscillating saw and press down to cut it. As a result, in the impedance mode, the robot model parameters There is an uncertainty in the gravitational term g(q)

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