The force sensor is used to detect the external force information, and the force signal is converted into the azimuth of the robot. Compliance exercises are implemented in a five-joint robot. Robot teach pendant repair advocates the use of real-time gravity and clash compensation to complete direct education without torque sensors. A free force manipulation method was proposed to simulate the motion of the terminal tool and the simulation experiment was carried out. The six-dimensional force sensor is used to check the external force information and convert the force signal into a joint velocity calibration to complete the consistency tracking education.
Using the robot dynamics equation, the obtained joint space force components are converted into joint azimuth coordinates, and the robot teach pendant is repaired and the direct education is completed. The force sensor signal is used to calibrate the robot's bearing, and the robot's adaptive tracking control is used to teach the welding robot. It can be found that for direct education according to the torque-free sensor and torque compensation method, the process is cumbersome, the dynamics equations, etc., and it is difficult to carry out torque compensation in practice.
In addition, due to the closure of the robot manipulator, it is difficult to use the direct instruction of speed adjustment according to the force sensor for other robots. The robot teach pendant repair can be controlled by using the direction without changing the manipulator, and can be directly controlled. Choose a direct education approach based on automated compliance control. The six-dimensional force sensor is installed at the end of the robot to detect the external force information, and the force signal of the working coordinate system is obtained through the force coordinate transformation, and the robot teach pendant repairs and converts the obtained force signal into the robot end actuator. The direct drag education of the robot is completed by the direction of the proofreading. This method has no special requirements for the robot manipulator and has outstanding versatility.
With the development of industrial automation technology, industrial robots have been widely used in the field of flexible manufacturing. For uses such as grinding, it is necessary to introduce force feedback manipulation to get used to the external environment. Robot teach pendant repairMost industrial robots can only be completed through educational equipment and other educational operations to complete the robot trajectory, which is inefficient. The direct education of the robot is that the tutor directly contacts the end actuator and completes the educational mission by pulling the terminal tool. The completion of the direct education of the robot in the robot teach pendant repair robot depends on the impedance control strategy of the robot's automatic and adaptive manipulation, and the completion of the robot's adaptability to traction. Direct education of robots can be divided into direct education based on force sensors and direct education based on torque-free sensors.
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