Industrial robot compliant motion control method and apparatus
By quantifying the asymmetry ratio of the positive and negative reversal torque amplitudes of the joints and the end-effector velocity deflection duration, and combining this with the environmental stiffness index, the joint friction degradation characteristics of industrial robots are identified and compensated. This solves the problem that compliance control parameters cannot be adaptively adjusted in existing technologies, thereby improving motion accuracy and stability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- CHANGZHOU INST OF LIGHT IND TECH
- Filing Date
- 2026-06-11
- Publication Date
- 2026-07-17
AI Technical Summary
Existing compliance control solutions for industrial robots fail to effectively quantify the degree of frictional asymmetry, resulting in a lack of correlation between joint wear state and stiffness characteristics of the contact working environment. Consequently, compliance control parameters cannot be adaptively adjusted, affecting motion accuracy and stability.
By extracting the asymmetry ratio of the positive and negative reversal torque amplitudes of the joint, and combining it with the end velocity deflection to establish the time-quantified contact environment stiffness, the contact transient response deviation is analyzed, the joint torque margin insufficient section is identified, and feedforward pre-compensation and real-time admittance correction are performed to output compliant control commands.
It enables continuous online quantification of friction degradation characteristics, eliminates the risk of underestimating joint wear and environmental stiffness, and improves the motion accuracy and stability of industrial robots in complex contact operations.
Smart Images
Figure CN122401435A_ABST