Industrial robot teaching is that the programmer selects various teaching methods to "inform" the robot in advance of the action information and operation information. This information is roughly divided into three categories: robot orientation and posture information, trajectory and waypoint information; information on the robot mission action sequence letter, etc.; Information such as robot movements, additional conditions during operation, and information such as the speed and acceleration of robot movements, and information on work content, etc.
The practice of using the traditional teaching box requires the operator to have a certain knowledge and experience of robot skills, and the teaching power is low. Compared with the teaching box teaching, the direct teaching method can not require the operator to grasp any robot common sense and experience, and the operation is simple and fast, which greatly improves the friendship and quality of teaching.
Direct teaching and manipulation
At that time, the direct teaching and control methods of the main stream robots can be divided into two categories: the first class is the direct teaching method according to the azimuth control or impedance control. The second type is the direct teaching of the robot with zero force balance according to the torque control (with dynamic model).
Direct teaching according to the direction of the operation
The traditional drag teaching relies on a multi-dimensional operation sensor placed on the robot, and the information obtained by the sensor is used to pull the robot to make linear or rotational movements in Cartesian space.
None of these azimuth-based drag-and-teach methods can avoid two problems. One is because of the configuration of additional multi-dimensional sensors, which increases the production cost of the robot. The other is because the multi-dimensional sensor can only control the Cartesian space at the end of the robot, so it cannot control the movement of the single axis well, which makes the movement of the robot appear very stiff, which is not conducive to the real drag teach-in, especially when it is to fine-tune to a specific point, and may also need the assistance of the traditional remote control teach-in box.
The zero-force balanced robot is directly taught according to the torque control
With the help of the dynamic model of the robot, the controller can calculate the torque required by the robot when it is dragged in real time, and then supply the torque to the motor so that the robot can well assist the operator to drag. The calculation of the moment is shown by the following formula:
The formula is the moment required by the motor calculated by inverse dynamics, and the calculation formula includes the inertial force term, the Coriolis force and centrifugal force terms, the gravitational force term and the friction force term. The selected friction model of the edge can be decomposed into viscous friction terms, Coulomb friction terms, and compensation.
Different from the traditional drag teaching method according to the azimuth or impedance, the zero-force control method is more and more friendly to the operator. With the assistance of the first-class dynamic model, the gravity, friction and inertia force of the robot itself to be overcome when dragging the robot are offset by the corresponding motor torque, so that the robot can be easily dragged. Together, the algorithm also ensures that when the external force is withdrawn, the robot can quickly stop in the direction at that time, ensuring the safety of equipment and operators.
Another advantage of dragging teaching according to zero force control is that in the dynamic model, the torque of each joint can be controlled individually, so the drag point of the robot is no longer fixed at the end of the robot or on the multi-dimensional sensor, and the operator can drag the robot in any direction of the robot, making the operation more flexible and changeable.
Drag teaching skills for industrial robots
In response to the demand for the use of the main stream at that time, Qifan has announced that it can be used on different models of robots for dragging teaching skills. This skill is based on the direct teaching of the robot with zero force balance according to the torque control, and completes the sensorless zero force balance drag teaching according to the torque control.
This drag teaching method, in addition to the above-mentioned zero force balance robot directly taught according to the torque control, also has a primary advantage, that is, there is no need to add an external joint torque sensor, which reduces the cost of completion, and also ensures the versatility of the algorithm.
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