Method for improving joint torque detection precision of robot and multi-joint robot

Abstract

The invention relates to a method for improving the joint torque detection precision of a robot and a multi-joint robot, the robot comprises a plurality of joints, each joint comprises a torque sensor, the method is characterized by comprising the following steps: an information presetting step: presetting calibration information of each joint torque sensor of the robot and establishing a robot mechanical model, the calibration information represents the coupling influence of the joint stress on the joint torque information of the torque sensor; an acquisition step: acquiring joint torque information of each joint; a calculation step: calculating joint stress information of each joint of the robot according to the robot mechanical model and the joint torque information; and a decoupling step: according to the calibration information and the joint stress information, performing decoupling processing on the joint torque information of the torque sensor, and outputting the decoupled joint torque information. The method has the beneficial effects that the joint torque information precision is high, and the force control precision of the robot is good.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a method for improving the detection accuracy of robot joint torque and a multi-joint robot. Background technique [0002] Industrial robots are a class of robots that are widely used in industrial environments. Industrial robots can usually be divided into traditional industrial robots and collaborative robots. Collaborative robots are a new type of industrial robot that is small and easy to install, and can be used in commercial , service industry, industry and other scenarios. The diverse application scenarios of collaborative robots put forward higher requirements for safety and precision. [0003] In some usage scenarios, such as welding, the precision of the end of the industrial robot needs to be good enough to ensure the effect of the work. In the prior art, some robot manufacturers have begun to try to install torque sensors in the joints of industrial robots to improv...

AI Technical Summary

Problems solved by technology

[0004] At the same time, when torque sensors are installed on each joint of an industrial robot, the joints themselves may be affected by external forces, and the coupling of the torque sensor affects the detection accuracy of the torque sensor, which in turn affects the force control accuracy of the industrial robot, making the end accuracy of the industrial robot insufficient to meet the accuracy requirements. demanding scene

In order to solve the coupling problem of the joint torque sensor, the existing technology improves it by changing the mechanical structure. This method is difficult to design, complex to realize, and will increase the weight and volume of the joint. At the same time, the increased mechanical structure increases the robot’s The generated manufacturing cost is not conducive to widespread promotion and use

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