Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Control method and drive device for robot flexible joints

A technology of flexible joints and control methods, which is applied in the field of robotics and can solve problems such as poor control performance

Active Publication Date: 2014-05-28
ZHEJIANG UNIV
View PDF11 Cites 6 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0012] The invention proposes a control method and a driving device for a robot flexible joint, which solves the problem of poor control performance caused by signal transmission delay in the prior art

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Control method and drive device for robot flexible joints
  • Control method and drive device for robot flexible joints
  • Control method and drive device for robot flexible joints

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0049] Such as figure 2 , 3 As shown, the driving device of the flexible joint of the robot in the embodiment of the present invention includes several flexible joints and a host computer, and each flexible joint includes a spring arranged between the load and the motor reducer, and the two ends of the spring are equipped with absolute The encoder also includes a servo drive that drives the movement of the flexible joints. The upper computer is used to plan the motion of each flexible joint. A function expansion card is also connected between each flexible joint and the upper computer. The function expansion card includes:

[0050] The signal conversion module converts the differential SSI signal output by the absolute encoder into a level SSI signal;

[0051] The SSI communication module converts the level SSI standard signal obtained by the signal conversion module into a digital signal;

[0052] MCU preprocesses the digital signal from the SSI communication module, and c...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a control method and drive device for robot flexible joints. The method comprises the following steps: (1) position measurement signals at the two ends of a spring are acquired; (2) pre-processing is conducted on the position measurement signal; (3) the signal obtained through pre-processing is output to an upper computer, and the upper computer plans the signal and inputs a target signal to flexible joints; (4) a speed instruction signal is obtained through calculation; (5) the speed instruction signal is input into a corresponding servo driver, and movement of the flexible joints is controlled; (6) the existing signal is compared with the target signal, if the existing signal is the equals the target signal, operation is stopped; if not, the steps from (1) to (5) are repeated till the existing signal equals the target signal. According to the control method and drive device for robot flexible joints, the acquired position signal is directly processed in a function expansion card, uncertain communication delay caused when the position signal is transmitted to the upper computer for processing is avoided, and the control effect of the robot flexible joints is good. The flexible joints are controlled through force or torque, accidents can be effectively avoided, and a robot is high in safety.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a control method and a driving device for a flexible joint of a robot. Background technique [0002] With the development of robot technology, people put forward higher requirements for the flexibility and safety of robots when interacting with the environment. For robot motion control, precise control of joint driving force is an important method to improve robot flexibility and safety. In this context, the serial elastic drive device emerged as the times require, and has become a research hotspot in the academic and industrial circles. [0003] Simultaneously with the tandem elastic drive was born the force / torque servo technology of the tandem elastic drive. Such as figure 1 Shown is a typical series elastic drive motion control and servo drive system. In this system, the servo motor and the servo drive form an independent motor servo subsystem, which can complete the contr...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): B25J9/18
Inventor 贾学超朱秋国熊蓉
Owner ZHEJIANG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com