Robot Drag Teaching with Feedforward Gravity and Friction Compensation
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Solution Overview
Problem
Traditional drag teaching methods for robots are inefficient, cumbersome, and require high operator knowledge, limiting their operational efficiency and flexibility.
Innovation Solution
A drag teaching system that includes a model identification module for establishing a static model of the robot, a feedforward compensation module to transmit identified parameters to the robot's motor current loop, and a data recording module to reproduce taught motions, eliminating the need for a multi-dimensional force sensor and enhancing teaching efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If traditional teaching pendant mode is used, then robot teaching can be performed, but operation efficiency is low and the process is cumbersome
Solution Approach 1:
The patent replaces the traditional mechanical teaching pendant operation with a drag teaching system that uses force sensing and control algorithms. The operator directly drags the robot arm through space, and the system measures the applied forces and torques to determine the desired motion trajectory, eliminating the need for complex pendant operations and significantly improving teaching efficiency
Solution Approach 2:
The system changes the operational parameters by implementing feedforward compensation based on robot dynamics models (gravity, centrifugal, Coriolis, friction). This allows the drag teaching system to operate in a more natural and intuitive manner by pre-calculating and compensating for dynamic effects, making the teaching process smoother and more efficient
2Ease of operation
If traditional teaching mode is used, then robot can be taught, but requirements on operator knowledge level are high
Solution Approach 1:
The drag teaching system performs self-calibration and self-adjustment through force sensing and dynamic compensation algorithms. The system automatically identifies robot parameters and adapts to different teaching scenarios, reducing the need for highly knowledgeable operators while maintaining high teaching accuracy through built-in compensation mechanisms
3Ease of operation
If drag teaching mode is implemented without feedforward compensation, then operation is simpler, but teaching accuracy and comfort are reduced
Solution Approach 1:
The system performs preliminary calculations of gravitational forces, centrifugal forces, Coriolis forces, and friction effects before the actual drag teaching operation. By pre-computing these dynamic compensation terms based on the robot's current state and desired motion, the system ensures high positioning accuracy while maintaining the simplicity of drag teaching operation
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system allows for flexible and efficient teaching of robots with complex motion traces, reducing operator requirements and costs, while ensuring accurate parameter identification and comfortable teaching processes.
Implementation Method 1
a static model of the robot and identify model parameters, wherein the static model includes a gravity model and a Coulomb friction model
Data Source
AI summary
A dragging demonstration system and method. The dragging demonstration system comprises: a model identification module configured to build a static model of a robot and identify model parameters, wherein the static model comprises a gravity model and a Coulomb friction model; a feedforward compensation module configured to convey the identified model parameters to a current ring of each joint motor of the robot in a feedforward way according to the identified model parameters; and a data recording module configured to record the position information of each joint of the robot so that the robot can repeat the demonstration action. The system and method can make a user push the robot quite easily to implement dragging demonstration.