Cooperative Robot Friction Modeling for Precision Joint Compensation
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Solution Overview
Problem
Collaborative robots experience hindered agile interaction due to large frictional forces in their gear mechanisms, which deteriorate with wear over time, affecting driving precision and ease of use.
Innovation Solution
A method for a multi-degree-of-freedom cooperative robot to measure friction autonomously, collect data, and derive a friction model without user intervention, compensating for friction forces by generating specific motions to account for gravity, inertia, and Coriolis effects, and calculating a friction model function using angle, torque, and temperature information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If friction compensation is set during initial setup, then driving precision is improved, but friction characteristics change due to wear over time causing precision to deteriorate
Solution Approach 1:
The friction compensation method transitions from a static initial setup to a dynamic self-learning process. The cooperative robot automatically generates motion data, collects friction information, and updates compensation parameters continuously, allowing the system to adapt to wear and changing friction characteristics over time rather than relying on a fixed initial calibration
Solution Approach 2:
The cooperative robot performs friction measurement and model derivation autonomously without requiring user intervention or external equipment. The system generates its own motion data, collects friction information from its actuators, and automatically updates its friction compensation model, enabling self-maintenance of driving precision
2Ease of operation
If user directly moves cooperative robot for teaching, then robot can be controlled, but large frictional force hinders agile interaction
Solution Approach 1:
The system preemptively measures friction characteristics across the robot's workspace and pre-calculates compensation forces before user interaction occurs. By storing friction data and compensation parameters in advance, the system eliminates the need for users to overcome large friction forces during direct manipulation, enabling smooth and agile interaction
Solution Approach 2:
The friction compensation system continuously monitors joint positions, velocities, and actuator torques, then feeds this information back to dynamically adjust compensation forces. This real-time feedback loop ensures that friction compensation adapts to changing operating conditions, maintaining ease of operation throughout the robot's workspace
Data Source
AI summary
In a method for compensating for friction of a multi-degree-of-freedom cooperative robot including a plurality of joints, the method for compensating for friction of the multi-degree-of-freedom cooperative robot, according to an embodiment of the present invention, comprises the steps of: generating a motion of a cooperative robot for friction compensation; driving the plurality of joints on the basis of the generated motion of the cooperative robot; receiving friction identification data from the cooperative robot; and calculating a friction model function from the received friction identification data.