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Robot direct teaching control method based on moment balance

A control method and torque balance technology, applied in the field of robotics, can solve problems such as complex control and high cost

Active Publication Date: 2013-12-04
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
  • Description
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Problems solved by technology

[0006] The purpose of the present invention is to solve the problems that the existing teaching robots need to be controlled by multi-dimensional force sensors to achieve teaching, and the cost is high and the control is complicated. Teaching control method

Method used

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  • Robot direct teaching control method based on moment balance
  • Robot direct teaching control method based on moment balance
  • Robot direct teaching control method based on moment balance

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Embodiment Construction

[0049] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0050] A robot direct teaching control method based on torque balance, the structure diagram of its control system is shown in figure 1 As shown, the specific steps of teaching control are as follows:

[0051] First, by measuring the current values ​​of the joint motors in several poses and motion states of the robot, the current values ​​required to balance the gravity and friction of each joint in any pose and motion state of the robot are obtained.

[0052] In the present invention, when the robot is teaching, the calculated current value is used to directly control the motors of each joint, so that the robot seems to be in an environment without gravity and friction. At this time, the direct teaching of the robot is very light and flexible. Such as figure 2 shown.

[0053] For articulated robots, when the coordinates of each joint are determined...

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Abstract

A robot direct teaching control method based on moment balance is characterized in that current values of joint motors of a robot under some specific poses and moving states are calculated through measurement and modeling, and an analytic expression of the current values required by balancing of the gravity and the friction of joints under any pose and any moving state of the robot is obtained. During robot teaching, the current values calculated through the analytic expression are directly utilized to control the joint motors to enable the robot to be located under the environment similar to the environment without gravity and friction, and direct teaching can be conducted on the robot at the moment. The method has the advantages of being simple in control, low in system cost, convenient to operate and the like.

Description

technical field [0001] The invention relates to a robot technology, in particular to a teaching robot control technology, in particular to a torque balance-based direct teaching control method for a robot. Background technique [0002] The teaching of traditional robots mainly depends on the operation of the teaching box, but this teaching method is cumbersome to operate, has low teaching efficiency, and requires high technical level of the operator. The method of directly dragging the end of the robot and moving the robot to realize the teaching of the robot is called direct teaching. Compared with the teaching of the teaching box, this teaching method is more flexible and intuitive, and the requirements for the operator are much lower. [0003] A direct teaching implementation method, by cutting off the connection between the drive part and the joint, the operator directly drags the robot to realize the teaching, that is, the power level is separated from the teaching. Ob...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/418
CPCY02P90/02
Inventor 游有鹏张宇李成刚浦海洪
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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