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Active compliant control method and device of industrial robot

An industrial robot, active and flexible technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problem of inability to contact force size control, and achieve the effect of intuitive force control, easy adjustment, and simple and convenient conversion.

Active Publication Date: 2015-05-20
SHENYANG SIASUN ROBOT & AUTOMATION
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  • Application Information

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Problems solved by technology

[0005] Patent CN101195221A discloses a compliant control method for impedance control, which provides a new feasible method for the compliant control of industrial robots, but its control method belongs to impedance control and cannot control the magnitude of the contact force

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  • Active compliant control method and device of industrial robot
  • Active compliant control method and device of industrial robot
  • Active compliant control method and device of industrial robot

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Embodiment Construction

[0015] The present invention will be further described in detail below in conjunction with the drawings and specific embodiments.

[0016] An active compliance control device for industrial robots of the present invention, such as figure 1 with 2 As shown, it includes a robot controller, a motor controller, a force sensing sensor, a code disc, several sets of motor drivers and servo motors. In this implementation, there are 6 sets of motor drivers and servo motors.

[0017] Among them, such as figure 2 As described, the robot controller 11 communicates with the motor drive module 15 using the standard CAN protocol, and transmits the target angle value Θ and the feedback angle value Θ'of each joint in the joint space, and the speed compensation value of the force control. The motor drive module 15 is composed of a motor controller and a motor driver; the force sensing sensor is used in the position and speed detection module 14 and the force information acquisition module 16.

[001...

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Abstract

The invention discloses an active compliant control method of an industrial robot. The method comprises the steps that S1, a track planning module plans a motion track; S2, a kinematic calculation module carries out kinematic decoupling calculation; S3, a motor driving module achieves the kinematic decoupling result; S4, a position and speed detection module detects the actual position and speed; S5, a gravity term calibration module carries out gravity calibration; S6, a dynamic calculation module carries out dynamic term calculation; S7, a force information collection module collects force information between the tail end of a tool and a workpiece; S8, a force information compensation module carries out compensation; S9, a force / position control mode switching module obtains compensation value loading; S10, a damping characteristic conversion module carries out damping linear conversion; S11, a Jacobi conversion module obtains the angular speed of all joints. According to the technical scheme, the corresponding speed of the system is improved, a mode of selecting the matrix is adopted to carry out position control and force control switching on the industrial robot in all directions, and conversion of the force / position control mode becomes simple, convenient and rapid.

Description

Technical field [0001] The invention relates to the field of robot control, in particular to a method and device for active compliance control of industrial robots for assembly, polishing and processing operations. Background technique [0002] The tasks performed by the early robots were relatively simple. The robots rarely had contact with the external physical environment, such as completing tasks such as handling and painting. The above tasks emphasized position control when controlling, and the operating arm did not contact the environment. [0003] With the expansion of the application field of robots, in many cases, robots will come into contact with the external environment and generate contact force. For example, robots are used in assembly, cutting, polishing, grinding, scrubbing, deburring, grinding and other occasions. Usually need to use additional force for processing, while controlling the additional force within a certain range, so the introduction of additional for...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/18B25J19/00
Inventor 宋吉来徐方曲道奎邹风山褚明杰刘晓帆
Owner SHENYANG SIASUN ROBOT & AUTOMATION
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