Zero-gravity control method free from moment sensing

Abstract

The invention relates to the technical field of mechanical arm control, and discloses a zero-gravity control method free from moment sensing. The zero-gravity control method comprises the following steps of step 1, obtaining absolute position parameter pulse values of each knuckle of a mechanical arm through an absolute value encoder, and converting the motor pulse capacity to pulse capacity of anorigin of a cartesian coordinate system; step 2, according to the definition of instantaneous velocity and instantaneous acceleration, calculating loop iteration to calculate the instantaneous velocity value and the instantaneous acceleration value; and step 3, performing programming with a software Matlab to determine the algebraic relation expression between the gravity moment of each knuckle arm and the position parameter of each knuckle of the mechanical arm. Through the adoption of the zero-gravity control method disclosed by the invention, for zero force dragging, a moment sensor is notadopted, so that the cost is low and the operability is high, the zero-gravity control method is easy for application and popularization of industrial automation; and besides, the method is mainly realized with the assistance of recognition of the parameters and a software algorithm, so that time and labor are saved, the programming showing and teaching efficiency is high, and later stage maintaining and upgrading are convenient and swift; and the programming efficiency and quality are improved through dragging slowing and teaching planning points, and a foundation is laid for the yield of products.

Description

technical field [0001] The invention relates to the technical field of mechanical arm control, in particular to a zero-gravity control method without torque sensing. Background technique [0002] In the context of Industry 4.0, the application and popularity of robotic arms has become an important aspect to measure the automation strength of a country. At present, the application of the robotic arm is mainly to complete the task through pre-programming by professionals, so that it can complete the corresponding movement according to the program setting and external signals. The programming of the robotic arm mainly includes three types: fixed point program, teaching programming, and offline programming. In addition, some robotic arms have the function of dragging and teaching programming, which lowers the entry threshold of this industry and paves the way for the popularization of industrial automation of robots. set the foundation. [0003] Several ways of programming the...

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Problems solved by technology

[0003] Several ways of programming the current manipulator: the fixed point program is generally applied to a single working condition; the teaching programming generally adopts the direct teaching method, that is, the manipulator moves through the joint space and the Cartesian space to make the robot run to the target planning point; Offline programming is to pre-write the logic, pre-calculate the point information, and then use direct teaching to correct the deviation value. The realization of the above method has high requirements for engineers, takes a long time, and the efficiency of programming and teaching is low. It is difficult to obtain ideal trajectory planning points. Some robot arms use torque sensors to realize drag teaching. Although the above problems are solved, the cost is high and it is difficult to popularize

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