Guide operating system of robot operation arm, compliant operation control method thereof and demonstration learning method thereof

Abstract

The invention discloses a guide operating system of a robot operation arm, a compliant operation control method of the guide operating system and a demonstration learning method of the guide operatingsystem, and relates to the field of man-machine collaborative operation system development. The guide operating system of the robot operation arm, the compliant operation control method of the guideoperating system and the demonstration learning method of the guide operating system are used for solving the problems that in an existing man-machine collaborative operation system, an operation handle is fixed, all-directional operation cannot be achieved, and the compliant operation control method and the intelligent demonstration learning method do not exist. The guide operating system comprises two mechanical interfaces, a rotatable operation handle and sensors such as a force sensor, a gyroscope and an accelerometer. In the compliant control process, a virtual spring damping model is utilized to calculate the reference movement of the operation, and the discordance amount between an operator and a robot is compensated by a force control method. The system state transition of the operation process serves as training data, and a deep learning system with a four-layer structure is used for learning the operation movement and force interaction process of the operator. The operator and robot collaborative operation can organically combine the advantages of the operator and the robots, and therefore the labor intensity of the operator can be reduced in the automatic assembling andpolishing operation on the premise that the operation quality is guaranteed, the working efficiency can be improved in the automatic assembling and polishing operation on the premise that the operation quality is guaranteed, and the guide operating system of the robot operation arm, the compliant operation control method of the guide operating system and the demonstration learning method of the guide operating system have the broad application prospect.

Description

technical field [0001] The invention relates to an auxiliary device for man-machine collaborative operation and a control and machine learning method for the man-machine collaborative operation, and relates to the technical field of human-machine collaborative operation system development. Background technique [0002] The original intention of industrial robot design is to simulate the movement of human arms to replace the repetitive labor of workers. For simple operations such as palletizing and handling, the current robot products have been able to realize automatic operations, but for limited space such as assembly and grinding. Mixed control tasks, general industrial robots are still unable to accurately complete these tasks, so in most factories, workers still need to hold heavy equipment for assembly and grinding operations, and the labor intensity of workers is still high. [0003] For the above-mentioned operations that require force interaction with the environment...

AI Technical Summary

Problems solved by technology

[0010] The purpose of the present invention is to provide a guiding and manipulating system capable of teaching the movement and operating force of the robot manipulator arm, and provide a compliant control method and a teaching and learning method in the guiding process to solve the problem of existing man-machine problems. In the cooperative operation system, the fixed joystick cannot realize all-round manipulation, and the lack of compliant manipulation control methods and lack of intelligent teaching and learning methods

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