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Industrial robot free driving teaching method based on space force information

A technology of industrial robots and teaching methods, which is applied in the direction of manipulators and manufacturing tools, can solve the problems of poor compliance, poor teaching compliance, and increased total cost, achieving low cost, simple structure, and compliance good sex effect

Active Publication Date: 2016-02-24
GUANGZHOU ZSROBOT INTELLIGENT EQUIP CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] (1) A torque sensor needs to be installed on each joint of the robot, which will lead to an increase in the total cost
[0005] (2) The compliance effect of teaching is not good
The compliant effect of this method is generated according to the torque of the axis of each joint, and the axis of each joint moves independently, so if this method applies force at the end of the robot, it will be affected by the different axes of each joint. Synchronization produces an uncoordinated effect (that is, the end of the robot cannot move in the direction of the force or the effect is stuck), and the compliance effect is not good

Method used

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  • Industrial robot free driving teaching method based on space force information
  • Industrial robot free driving teaching method based on space force information
  • Industrial robot free driving teaching method based on space force information

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Experimental program
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Embodiment 1

[0077] This embodiment describes in detail the installation of the six-dimensional force sensor of the present invention, the simulation model of the object being dragged by the hand, the mathematical model of the rotational speed of the attitude angle, and the adjustment rule of the teaching compliance.

[0078] (1) Installation of six-dimensional force sensor

[0079] In order to reduce the cost and improve the flexibility of teaching, the present invention installs a six-dimensional force sensor at the end of the robot to collect the force information of the robot (including the forces Fx, Fy and Fz in the directions of X, Y, and Z axes and the forces around The torques Mx, My and Mz of the three axes, such as figure 2 shown).

[0080] (2) Human hand dragging object simulation model

[0081] The basic idea of ​​the algorithm proposed by the present invention is to make the motion of the end of the robot simulate the motion of a person pushing an object or dragging an obj...

Embodiment 2

[0098] In this embodiment, the process of updating the speed of the translation of the robot is taken as an example to describe the specific implementation process of the present invention. Such as Figure 5 As shown, the speed update process of robot translation of the present invention comprises the following steps:

[0099] A. Collect force information: Collect external force information through a six-dimensional force sensor, which is the data of tension or pressure Fx, Fy and Fz in three directions and three torques Mx, My and Mz.

[0100] B. Kalman filter processing of force information: filter the collected force information to obtain accurate and stable force information. ;

[0101] C. Gravity compensation for the fixture and sensor: Since the collected force information includes the gravity of the fixture and the six-dimensional sensor itself, to obtain real external force information, gravity compensation processing is required to eliminate the fixture and the six-...

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Abstract

The invention discloses an industrial robot free driving teaching method based on space force information. The method comprises the steps that outer stress information is collected through a six-dimensional force sensor installed at the tail end of a robot; the collected outer stress information is subjected to smoothing and gravity compensation treatment, and the outer stress information subjected to compensation treatment is obtained; whether the tail end of the robot is stressed or not is judged according to the outer stress information subjected to compensation treatment and a set threshold value; and the horizontal moving speed of the robot is updated through a model for simulating the hand to drag an object according to the judgment result, and then the robot is controlled to move at an updated speed. The outer stress information is collected through the six-dimensional force sensor installed at the tail end of the robot, the structure is simple, and the cost is lower; the corresponding mathematical model is built and the horizontal moving speed of the robot is updated by simulating the hand to drag the object, the method is more suitable for the design of human engineering, and flexibility is better. The industrial robot free driving teaching method based on space force information can be widely applied to the field of automatic control.

Description

technical field [0001] The invention relates to the field of automatic control, in particular to a free-drive teaching method for an industrial robot based on spatial force information. Background technique [0002] Industrial robots are working machines which can be equipped with tools for the automatic handling and / or processing of objects and can be programmed to control several axes of movement, for example with respect to orientation, position and workflow. [0003] 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. In order to overcome the shortcomings of the traditional teaching method, someone proposed a teaching method based on a force sensor. This method installs a torque sensor at each joint of the robot to make each joint of the robot move according to the torque detected by the torque sensor. , t...

Claims

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Application Information

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IPC IPC(8): B25J13/06
Inventor 陈新度黄冠成吴磊
Owner GUANGZHOU ZSROBOT INTELLIGENT EQUIP CO LTD
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