A real-time motion planning method for robots based on force feedback
A motion planning, robotics technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of not considering the rated torque constraint of the manipulator, motion shock, failure shutdown, etc., to improve the quality of processing and assembly, smooth acceleration, eliminate Effects of Data Acquisition Noise
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[0049] A real-time motion planning method for robots based on force feedback. Aiming at the problem that the mechanical arm cannot move smoothly in the case of large periodic attitude corrections, the existing piecewise linear force-position control method is corrected, such as figure 1 As shown, the specific steps are:
[0050] (1) Use a six-dimensional force sensor for data collection, and obtain the component forces f of the X, Y, and Z axes in the base coordinate system of the manipulator after gravity compensation and coordinate transformation X , f Y , f Z , and according to the component force f X , f Y , f Z Obtain the external force f in the base coordinate system of the manipulator;
[0051] Wherein, the coordinate system of the six-dimensional force sensor coincides with the X and Y axes of the tool coordinate system of the manipulator respectively, and the calculation method of the external force is: subtract the load gravity at the end of the manipulator from...
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