CN105522578B - Towards the simulation method for controlling torque and system of zero-force control - Google Patents
Towards the simulation method for controlling torque and system of zero-force control Download PDFInfo
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- CN105522578B CN105522578B CN201511021807.4A CN201511021807A CN105522578B CN 105522578 B CN105522578 B CN 105522578B CN 201511021807 A CN201511021807 A CN 201511021807A CN 105522578 B CN105522578 B CN 105522578B
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- 238000004088 simulation Methods 0.000 title claims abstract description 35
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- 238000012360 testing method Methods 0.000 claims description 19
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- 230000008859 change Effects 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 description 7
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
Abstract
A kind of simulation method for controlling torque and system towards zero-force control, method include：S1, the model database for establishing the various Controlling models comprising joint of robot controller；S2, collection and the feedback data for handling joint control, are matched one by one with the Controlling model in model database, identify the Controlling model of joint control；S3, the joint torque according to the kinetic model calculating robot of robot；S4, according to the joint torque calculated in the Controlling model and step S3 identified in step S2, calculating robot's controller is assigned to the non-torque instruction of joint control, and joint control produces an equivalent moment equivalent with joint moment after receiving the non-torque instruction.The present invention can directly calculate the non-torque instruction that robot controller is assigned to joint control, equivalent moment required for directly being produced under non-torque control model, and when robot supports torque control model, it is not necessary to switch the mode of operation of joint control repeatedly.
Description
Technical field
The present invention relates to robot zero-force control field, more particularly to a kind of simulation direct torque side towards zero-force control
Method and system.
Background technology
The teaching process of industrial robot depends on teaching machine at present, and such teaching mode has operating efficiency
Low, process is not cumbersome directly perceived, and the characteristics of high is required to operating personnel's know-how, therefore, it is necessary to design a kind of directly perceived efficient
The direct teaching system of robot.Realization of the exploitation of direct teaching system dependent on zero-force control technology.Current zero-force control
Technology mainly has two kinds of implementations：Zero-force control technology based on position control and the zero-force control based on Direct Torque Control
Technology.
Zero-force control technology based on position control need to measure that to be applied to robot each by means of power/torque sensor
The external force in joint, the external force is then converted into corresponding position command with the power phase adduction calculated through kinetic model.Due to
The program needs power/torque sensor, so the cost and complexity of system can be greatly improved.
Zero-force control technology based on Direct Torque Control, weight corresponding to each joint is calculated by kinetic model first
Power and frictional force, then control the torque of the corresponding size of each joint output, robot overcome inertia force in the presence of external force and
Motion.Although such control mode does not need power/torque sensor, but higher want is proposed to joint of robot controller
Ask.In view of robot under indirect teaching pattern, each joint control is generally operational under non-torque control model, if closing
Save controller and support torque control model, if switching robot enters direct teaching pattern, need to switch repeatedly torque/non-turn
Square control model, this not only increases the data traffic of system workload, robot controller and joint control, and is easily caused
System is unstable；If joint control does not support torque control model, the exploitation of direct teaching system can not be realized.
The content of the invention
The technical problem to be solved in the present invention is, for the drawbacks described above of prior art, there is provided a kind of towards zero-g control
The simulation method for controlling torque and system of system.
The technical solution adopted for the present invention to solve the technical problems is：Construct a kind of simulation torque towards zero-force control
Control method, for controlling it to export corresponding torque when robot is in non-torque control model, method includes：
S1, the model database for establishing the various Controlling models comprising joint of robot controller；
S2, collection and the feedback data for handling joint control, are matched one by one with the Controlling model in model database, are known
The numerical value for the unknown parameter not gone out in the Controlling model and Controlling model of joint control；
S3, the joint torque according to the kinetic model calculating robot of robot；
S4, according to the joint torque calculated in the Controlling model and step S3 identified in step S2, calculating robot's control
Device processed is assigned to the non-torque instruction of joint control, joint control receive produce after the non-torque instruction one with it is described
The equivalent equivalent moment of joint torque.
In the simulation method for controlling torque of the present invention towards zero-force control, the step S2 includes：
S21, generation are sent to the test instruction of joint control, and the test instruction includes position command and/or speed
Instruction；
S22, collection simultaneously handle joint control based on feedback data caused by the test instruction；
S23, based on the feedback data, with the Controlling model in model database be fitted one by one solution obtain it is each
The unknown parameter of Controlling model, the best Controlling model of fitting effect is defined as to the Controlling model of joint control.
In the simulation method for controlling torque of the present invention towards zero-force control, also wrapped between the step S2 and S3
Include：
S2-3, based on the Controlling model and parameter identified in step S2, change partial parameters in Controlling model
Parameter value, so as to calculate the non-torque instruction and the generation equivalent force based on amended Controlling model in step S4
Square.
In the simulation method for controlling torque of the present invention towards zero-force control, the non-torque instruction refers to for speed
Order or position command.
In the simulation method for controlling torque of the present invention towards zero-force control, the step S3 includes：According to machine
Joint position, speed and the joint torque of acceleration information calculating robot of device people.
The invention also discloses a kind of simulation moment controlling system towards zero-force control, for being in non-turn in robot
It is controlled to export corresponding torque during square control model, system includes：
Model database, the various Controlling models comprising joint of robot controller；
Model identification module, for collecting and handling the feedback data of joint control, with the control in model database
Model matches one by one, identifies the numerical value of the unknown parameter in the Controlling model and Controlling model of joint control；
Joint torque computing module, according to the joint torque of the kinetic model calculating robot of robot；
Torque generation module is simulated, according to the Controlling model of identification and the joint torque of calculating, calculating robot's control
Device is assigned to the non-torque instruction of joint control, and joint control produces one and the pass after receiving the non-torque instruction
Save the equivalent equivalent moment of torque.
In the simulation moment controlling system of the present invention towards zero-force control, the model identification module includes：
Instruction generation unit is tested, the test instruction of joint control is sent to for generating, the test instruction includes
Position command and/or speed command；
Feedback data acquiring unit, it is based on feeding back caused by the test instruction for collecting and handling joint control
Data；
Unit is solved, for based on the feedback data, being fitted and asking one by one with the Controlling model in model database
Solution obtains the unknown parameter of each Controlling model, and the best Controlling model of fitting effect is defined as to the control mould of joint control
Type.
In the simulation moment controlling system of the present invention towards zero-force control, the system also includes：
Model modification module, for the Controlling model and parameter identified based on model identification module, modification control mould
The parameter value of partial parameters in type, so that simulation torque generation module, which is based on amended Controlling model, calculates the non-torque
Instruct and generate the equivalent moment.
In the simulation moment controlling system of the present invention towards zero-force control, the non-torque instruction refers to for speed
Order or position command.
In the simulation moment controlling system of the present invention towards zero-force control, the power according to robot
Learning the joint torque of normatron device people includes：According to the joint position of robot, speed and acceleration information computing machine
The joint torque of people.
Implement the simulation method for controlling torque and system towards zero-force control of the present invention, have the advantages that：
The present invention saves the Controlling model of controller by recognizing and calculates joint torque, directly can calculate under robot controller
Up to the non-torque instruction to joint control, the equivalent moment required for directly being produced under non-torque control model, Er Qie
When robot supports torque control model, it is not necessary to switch the mode of operation of joint control repeatedly.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is the structural representation of robot control system；
Fig. 2 is a kind of joint control Controlling model in specific embodiment；
Fig. 3 is the flow chart of the simulation method for controlling torque towards zero-force control of the present invention；
Fig. 4 is the structured flowchart of the simulation moment controlling system towards zero-force control of the present invention.
Embodiment
In order to which technical characteristic, purpose and the effect of the present invention is more clearly understood, now compares accompanying drawing and describe in detail
The embodiment of the present invention.
As shown in figure 1, it is the structural representation of robot control system.
Now there is the method objective for implementation of the artificial present invention of the machine of configuration shown in Fig. 1 with certain, the robot system includes：
Robot body 100, the teaching playback equipment 101 for robotic programming, the machine for realizing robot core control algolithm
Device people controller 110, the Ethernet cables 102 to be communicated for teaching playback equipment 101 with robot controller 110, it is used for
The joint control 106 of each joint motions of control machine people, communicated with joint control 106 for robot controller 110
EtherCAT cables 105, for sending a command to robotic body 100 or obtaining the equipment 107, attached of feedback information from it
Part 1, annex 2 104 and for connect annex 1 with robot controller 110 and for be connected annex 2 104 with
The equipment 108 and 109 of joint control 106.It should be noted that annex one includes but is not limited to vision sensor, power sensing
Device, distance measuring sensor, long-range or/and local IO, AD, DA, encoder etc., annex two include but is not limited to local IO, AD, DA,
Encoder etc..
The core control system of one robot is generally made up of robot controller 110 and joint control 106, and this two
It can be communicated between person by way of local bus or field bus communication.Usually, joint control 106 should be extremely
Possesses position control mode less, without that must possess torque control model.Generally, joint control 106 provides position and referred to
Make, speed command and torque instruction interface, robot controller 110 pass through the computing of the algorithm of inside, such as trajectory planning, fortune
Algorithm including dynamic model and/or kinetic model etc., sends the position command after computing, speed command, torque instruction
To joint control 106 and then the control to robot body 100 is completed, specifically：If joint control 106 is in torque
Control model, then robot controller 110 directly transmits the torque instruction after computing to joint control 106, if joint is controlled
Device 106 processed is in non-torque control model, such as position control mode/speed control mode, then robot controller 110 is sent
Position command/speed command after computing is to joint control 106.The method of the present invention is to realize in non-torque control model
Under so that robot controller 110 is produced using existing interface position command/speed command Interface Controller joint control 106
Required torque.
The method of the present invention specifically includes：
S1, the model database for establishing the various Controlling models comprising joint of robot controller；
Including but not limited to the model for the controller that can be such as equivalent to P, PI, PD, PID structure, band in model database
Position or/and speed or/and feed forward of acceleration can be equivalent to the model of P, PI, PD, PID controller, with all kinds of filtering or
The model of the model of the controller of trapper, model following controller and improved model following controller (MFC), and upper
State model of controller with other structures form being mutually combined on controller basis etc..
S2, collection and the feedback data for handling joint control, are matched one by one with the Controlling model in model database, are known
The numerical value for the unknown parameter not gone out in the Controlling model and Controlling model of joint control；
Usual joint control is realized based on pid control algorithm, but its inner structure form varies, if any pass
Section controller had both possessed position ring but also with speed ring, and some joint controls then only possess position ring, some joint controls
Device possesses position and speed or even feed forward of acceleration, and some joint controls do not possess then or only possess one kind therein or two
Kind.Even if possessing identical position ring, its internal realization is often also different, and this step is to accurately obtain joint control
Controlling model and model parameter.
S3, the joint torque according to the kinetic model calculating robot of robot；For example, the joint position according to robot
Put, the joint torque of speed and acceleration information calculating robot.
Not only include calculating the joint torque corresponding to Holonomic Dynamics model herein, may also include calculating respectively and correspond to
Inertia force, centrifugal force, Coriolis force, the joint torque of gravity and frictional force；
S4, according to the joint torque calculated in the Controlling model and step S3 identified in step S2, calculating robot's control
Device processed is assigned to the non-torque instruction of joint control, joint control receive produce after the non-torque instruction one with it is described
The equivalent equivalent moment of joint torque.
Non- torque instruction is position or speed command, it is necessary to which explanation is the specific of position command here or speed command
Applying mode include but are not limited to by way of position ring or speed ring instruction to realize can also by position feed-forward or
The mode of velocity feed forward is realized.
Specifically, wherein step S2 includes：
S21, generation are sent to the test instruction of joint control, and the test instruction includes position command and/or speed
Instruction；
This step be used for position planning or/and speed planning, comprising but be not limited only to trapezoidal profile planning, S type curves
Planning, sine and cosine planning etc., joint control can be such that joint is moved with desired track according to test instruction.
S22, collection simultaneously handle joint control based on feedback data caused by the test instruction；
Processing include but are not limited to addition subtraction multiplication and division, mean filter, without phase delay filtering, LPF, high-pass filtering,
The functions such as nonlinear transformation, Fourier transformation；
S23, based on the feedback data, with the Controlling model in model database be fitted one by one solution obtain it is each
The unknown parameter of Controlling model, the best Controlling model of fitting effect is defined as to the Controlling model of joint control.
The method that fitting solves includes but are not limited to least square fitting and all kinds of improvement least square fittings, more
The fitting of item formula, Kalman filtering, EKF, particle filter, genetic algorithm etc..
Preferably, also include between the step S2 and S3：
S2-3, based on the Controlling model and parameter identified in step S2, change partial parameters in Controlling model
Parameter value, so as to calculate the non-torque instruction and the generation equivalent force based on amended Controlling model in step S4
Square.
Because in the parameter identified in step S2, some parameters can cause instruction calculating and torque in step S4
Generation becomes complicated, it is possible to substantially makes some the value of the complicated parameter of calculating to be set as a simplified value, that is to say, that
Modification dynamically or statically is carried out to the Controlling model of joint control, if the torque for making to ultimately produce with step S3
Joint torque is equivalent.
Below with a specific embodiment explanation present invention.
If the Controlling model of joint control 106 by Fig. 2 as shown in Fig. 2 can be seen used by the system in Fig. 1
Go out, the joint control 106 possesses typical position ring-speed ring-electric current loop three close-loop control structure, and position ring is controlled using P
Device, speed ring use PI controllers, and electric current loop uses PI controllers, it is contemplated that and electric current loop typically has very high bandwidth, so
Place is equivalent to a proportional component.The joint control 106 has position command interface, support position feedforward, speed simultaneously
Degree feedforward and feed forward of acceleration, there is provided position, speed, current feedback information.
Step S1 establishes model database, and here is omitted, in this implementation, closes all kinds of feedforward interfaces, therefore step S2
The middle Controlling model unknown parameter for needing to recognize has：Position ring equieffective ratio gain Kp, speed ring equieffective ratio gain KvAnd wait
The integration time constant I of effectv。
In step S21, one group of reciprocating position command is generated using 5 sections of S types track creator；Step S22
Middle position feedback, velocity feedback and the current feedback for collecting joint control 106, utilize a mean filter and inclined without phase
Poor wave filter, mean filter processing is done to position feedback, velocity feedback and current feedback, it is contemplated that in general wave filter has
The drawbacks of phase delay, therefore may be incorporated into no phase delay wave filter and be filtered processing, to improve identification precision；Step
Least square fitting solver is utilized in S23, the best Controlling model of fitting effect is defined as to the control of joint control
Simulation.So by step S2, realize to position ring equieffective ratio gain Kp, speed ring equieffective ratio gain KvIt is and equivalent
Integration time constant IvIdentification, obtain the Controlling model of accurate joint control 106.
Exemplified by the exploitation that direct teaching system is completed in a manner of position command.To simplify the calculating in step S4, step
In S2-3, robot controller 110 is normal by the equivalent time of integration of each joint control 106 by EtherCAT cables 105
Number IvZero is arranged to, that is, cancels the effect of integration.Certainly specifically simplifying which parameter can select according to the experience of this area, example
Such as integration time constant IvCalculation position instruction or it can substantially increase amount of calculation during speed command below, then for example, if control
There is tracking parameter in model, then can also increase amount of calculation, then these parameters can be arranged to zero, subsequent calculations are bases when instructing
Carry out in the Controlling model of modification, so this modification can't influence the torque of the output of robot, be intended merely to so that simplifying
The calculating of instruction and the generation of equivalent moment, and the Controlling model of joint control is modified temporarily.
Step S3 process is prior art, herein can be currently suffered by one section of code that can be run, calculating robot
Gravity and frictional force τ, circular be not limited.
In step S4, realized by one section of code that can be run and position command, the position command are generated according to Controlling model
After putting on joint control 106, joint control 106 can generate the equivalent force equal with the τ in step S3 just
Square, concrete principle are as follows：
Wherein, qp,Respectively position command, position feedback, velocity feedback, Kp、KvIt is the control by step S2
What the identification of model was known,Belong to the feedback data that can be collected, utilize above formula, you can obtain position command qp.This
Sample, without changing the mode of operation of closedown controller 106, directly transmit position command qpCan causes needed for robot generation
The joint torque wanted.
In addition, if complete the exploitation of direct teaching system in a manner of speed command, then calculating speed in step s 4
During instruction, formula will be significantly simpler, as follows,
Wherein, qv,Respectively speed command, velocity feedback, KvIt is to be known by the identification of step S2 Controlling model
,Belong to the feedback data that can be collected, utilize above formula, you can obtain speed command qv.So, without changing shutdown control
The mode of operation of device 106, directly transmit speed command qvCan causes robot to produce required joint torque.
With reference to figure 4, the invention also discloses a kind of simulation moment controlling system towards zero-force control, such as 200 institute in figure
Show, for controlling it to export corresponding torque when robot is in non-torque control model, system 200 includes：
Model database, the various Controlling models comprising joint of robot controller；
Model identification module, for collecting and handling the feedback data of joint control, with the control in model database
Model matches one by one, identifies the numerical value of the unknown parameter in the Controlling model and Controlling model of joint control；
Joint torque computing module, according to the joint torque of the kinetic model calculating robot of robot；
Torque generation module is simulated, the Controlling model and the joint torque of calculating identified according to step, calculating robot
Controller is assigned to the non-torque instruction of joint control, and joint control produces one and institute after receiving the non-torque instruction
State the equivalent equivalent moment of joint torque.
Wherein, model database, model identification module can be an independent devices, make itself and robot controller
110 communications, naturally it is also possible to be arranged on inside robot controller 110.Joint torque computing module and simulation torque life
Into module typically by code i.e. can be achieved, it is advantageous to be arranged on inside robot controller 110.
Wherein, the model identification module includes：
Instruction generation unit is tested, the test instruction of joint control is sent to for generating, the test instruction includes
Position command and/or speed command；
Feedback data acquiring unit, it is based on feeding back caused by the test instruction for collecting and handling joint control
Data；
Unit is solved, for based on the feedback data, being fitted and asking one by one with the Controlling model in model database
Solution obtains the unknown parameter of each Controlling model, and the best Controlling model of fitting effect is defined as to the control mould of joint control
Type.
Preferably, the system also includes：
Model modification module, for the Controlling model and parameter identified based on model identification module, modification control mould
The parameter value of partial parameters in type, so that simulation torque generation module, which is based on amended Controlling model, calculates the non-torque
Instruct and generate the equivalent moment.Model modification module can also be an independent device, it is controlled with robot
Device 110 communicates,
In summary, implement the simulation method for controlling torque and system towards zero-force control of the present invention, have following
Beneficial effect：The present invention saves the Controlling model of controller by recognizing and calculates joint torque, can directly calculate machine
People's controller is assigned to the non-torque instruction of joint control, the equivalent force required for directly being produced under non-torque control model
Square, and when robot supports torque control model, it is not necessary to switch the mode of operation of joint control repeatedly.
Embodiments of the invention are described above in conjunction with accompanying drawing, but the invention is not limited in above-mentioned specific
Embodiment, above-mentioned embodiment is only schematical, rather than restricted, one of ordinary skill in the art
Under the enlightenment of the present invention, in the case of present inventive concept and scope of the claimed protection is not departed from, it can also make a lot
Form, these are belonged within the protection of the present invention.
Claims (10)
- A kind of 1. simulation method for controlling torque towards zero-force control, for being controlled when robot is in non-torque control model It exports corresponding torque, it is characterised in that method includes：S1, the model database for establishing the various Controlling models comprising joint of robot controller；S2, collection and the feedback data for handling joint control, match, identify one by one with the Controlling model in model database The numerical value of unknown parameter in the Controlling model and Controlling model of joint control；S3, the joint torque according to the kinetic model calculating robot of robot；S4, according to the joint torque calculated in the Controlling model and step S3 identified in step S2, calculating robot's controller The non-torque instruction of joint control is assigned to, joint control produces one and the joint after receiving the non-torque instruction The equivalent equivalent moment of torque.
- 2. the simulation method for controlling torque according to claim 1 towards zero-force control, it is characterised in that the step S2 Including：S21, generation are sent to the test instruction of joint control, and the test instruction includes position command and/or speed command；S22, collection simultaneously handle joint control based on feedback data caused by the test instruction；S23, based on the feedback data, be fitted solution one by one with the Controlling model in model database and obtain each control The unknown parameter of model, the best Controlling model of fitting effect is defined as to the Controlling model of joint control.
- 3. the simulation method for controlling torque according to claim 1 towards zero-force control, it is characterised in that the step S2 Also include between S3：S2-3, based on the Controlling model and parameter identified in step S2, change the parameter of the partial parameters in Controlling model Value, so as to calculate the non-torque instruction and the generation equivalent moment based on amended Controlling model in step S4.
- 4. the simulation method for controlling torque according to claim 1 towards zero-force control, it is characterised in that the non-torque Instruct as speed command or position command.
- 5. the simulation method for controlling torque according to claim 1 towards zero-force control, it is characterised in that the step S3 Including：According to the joint torque of the joint position of robot, speed and acceleration information calculating robot.
- A kind of 6. simulation moment controlling system towards zero-force control, for being controlled when robot is in non-torque control model It exports corresponding torque, it is characterised in that system includes：Model database, the various Controlling models comprising joint of robot controller；Model identification module, for collecting and handling the feedback data of joint control, with the Controlling model in model database Match one by one, identify the numerical value of the unknown parameter in the Controlling model and Controlling model of joint control；Joint torque computing module, according to the joint torque of the kinetic model calculating robot of robot；Torque generation module is simulated, according to the Controlling model of identification and the joint torque of calculating, under calculating robot's controller Up to the non-torque instruction to joint control, joint control produces one and the joint turn after receiving the non-torque instruction The equivalent equivalent moment of square.
- 7. the simulation moment controlling system according to claim 6 towards zero-force control, it is characterised in that the model is known Other module includes：Instruction generation unit is tested, the test instruction of joint control is sent to for generating, the test instruction includes position Instruction and/or speed command；Feedback data acquiring unit, feedback coefficient caused by the test instruction is based on for collecting and handling joint control According to；Unit is solved, for based on the feedback data, being fitted and solving one by one with the Controlling model in model database To the unknown parameter of each Controlling model, the best Controlling model of fitting effect is defined as to the Controlling model of joint control.
- 8. the simulation moment controlling system according to claim 6 towards zero-force control, it is characterised in that the system is also Including：Model modification module, for the Controlling model and parameter identified based on model identification module, change in Controlling model Partial parameters parameter value so that simulation torque generation module, which is based on amended Controlling model, calculates the non-torque instruction And the generation equivalent moment.
- 9. the simulation moment controlling system according to claim 6 towards zero-force control, it is characterised in that the non-torque Instruct as speed command or position command.
- 10. the simulation moment controlling system according to claim 6 towards zero-force control, it is characterised in that described root Joint torque according to the kinetic model calculating robot of robot includes：According to the joint position of robot, speed and acceleration Spend the joint torque of information computer device people.
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| EP3324254A1 (en) * | 2016-11-17 | 2018-05-23 | Siemens Aktiengesellschaft | Device and method for determining the parameters of a control device |
| CN109676607B (en) * | 2018-12-30 | 2021-10-29 | 江苏集萃智能制造技术研究所有限公司 | Zero gravity control method without torque sensing |
| CN113084828B (en) * | 2021-04-02 | 2022-11-11 | 上海电气集团股份有限公司 | Motion control method, device, equipment and storage medium |
| CN114407010B (en) * | 2021-12-31 | 2024-03-19 | 航天科工智能机器人有限责任公司 | Zero force control method and device, electronic equipment and storage medium |
| CN115778752A (en) * | 2022-11-24 | 2023-03-14 | 浙江工业大学 | Zero-force control method capable of inhibiting shaking in sitting-lying type rehabilitation robot |
| CN116442240B (en) * | 2023-05-26 | 2023-11-14 | 中山大学 | Robot zero-force control method and device based on high-pass filtering decoupling |
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| CN103425100A (en) * | 2013-07-23 | 2013-12-04 | 南京航空航天大学 | Robot direct teaching control method based on moment balance |
| CN105425728A (en) * | 2015-12-17 | 2016-03-23 | 沈阳理工大学 | Multi-axis motion serial control teaching programming method |
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| CN103038028B (en) * | 2011-01-27 | 2015-05-27 | 松下电器产业株式会社 | Robot-arm control device and control method, robot, and integrated electronic circuit |
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| CN1046113A (en) * | 1989-04-03 | 1990-10-17 | 三菱重工业株式会社 | Direct teaching type robot |
| EP0850730A1 (en) * | 1995-09-14 | 1998-07-01 | Kabushiki Kaisha Yaskawa Denki | Teaching unit for robots |
| CN102950596A (en) * | 2011-08-23 | 2013-03-06 | 松下电器产业株式会社 | Parallel connecting rod robot and movement teaching method thereof |
| CN103213136A (en) * | 2013-03-22 | 2013-07-24 | 南通航运职业技术学院 | Traction demonstration method and system for industrial robot |
| CN103425100A (en) * | 2013-07-23 | 2013-12-04 | 南京航空航天大学 | Robot direct teaching control method based on moment balance |
| CN105425728A (en) * | 2015-12-17 | 2016-03-23 | 沈阳理工大学 | Multi-axis motion serial control teaching programming method |
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