CN104959983B - Robot handheld demonstration method - Google Patents
Robot handheld demonstration method Download PDFInfo
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- CN104959983B CN104959983B CN201510274550.7A CN201510274550A CN104959983B CN 104959983 B CN104959983 B CN 104959983B CN 201510274550 A CN201510274550 A CN 201510274550A CN 104959983 B CN104959983 B CN 104959983B
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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
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
Abstract
The invention provides a robot handheld demonstration method. According to the invention, an operator is not needed to be programmed, the demonstration locus can be any locus, and the use cost of a robot is greatly reduced. The method includes a learning step that a robot enters into a torque mode and is manually driven to move based on the locus needed by the operator, a main controller stores the learning output values of encoders at every learning moment or the learning output values of the encoders passing by the learning time length; a resetting step that each servo motor is in a position or speed mode; and a running step that drivers control the servo motors to move, the running output values of the encoders are changed based on the rules of the stored learning output values, or the running output values of the encoders passing by the running time length are changed based on the rules of the stored learning output values of the encoders passing by the running time length, so that the joint motions are consistent to the joint motions in the learning step.
Description
Technical field
The present invention relates to robot teaching method.
Background technology
Require for the quick and various and growing complexity of modern industry, continue flexible manufacturing, Automated library system system
Make, Surface seeding and concurrent engineering, in the production unit facing the future commercial Application, robot is not only required to " not know tired
Tired " carry out repeated work, and as a highly flexible, opening and can have the compiling of human-computer interaction function of close friend
Journey, Reconfigurable Manufacturing Cell are fused in manufacturing industry system.The realizing of this ability requires roboticses at this stage overall
Progressive, teaching technology is exactly wherein important one.Robot completes different tasks and is considered flexible because can be programmed
Automation equipment.Programming to robot manipulating task task is realized by a certain equipment or mode, this process is exactly robot
Teaching process.
Conventional teaching method mainly has two kinds, and one kind is by demonstrator teaching；Another kind is by offline software, raw
Become the trail file that robot runs, robot is according to the data run of trail file.The former is used for general regular collection rail
Mark runs, such as straight line, circular arc etc., and the latter, in addition to can realizing the teaching of straight line, circular arc etc., also can the complicated curve of teaching show
Religion, but, offline software uses more complicated, has higher requirement to operator, and live digital-to-analogue collecting work amount
Greatly, in addition software price is very high, have impact on the popularization and application of robot.
Content of the invention
It is an object of the invention to provide a kind of robot holds teaching method, using the method, robot is able to record that behaviour
Author makes the teaching track that robot is moved according to operator's wish with hand drive robot, and robot can
Run according to the teaching track being recorded；The method need not program for operator, and teaching track can be arbitrary trajectory,
Without any requirement to operator, greatly reduce the use cost of robot；Parts that the method uses etc. belong to conventional
Parts, low cost of manufacture.
The robot of the present invention holds teaching method, and described robot includes main controller, at least one joint；Described joint
Including the drive mechanism of two arms, two arm relative motioies of driving, drive mechanism includes servomotor and servomotor electricity
Connect to control driver, the encoder of servomotor；Main controller is electrically connected with each driver, and the output of each encoder connects master control
Device；
Described robot is held teaching method and is comprised the steps:
A, learning procedure:
A1, each servomotor is made to be in torque mode by each driver, each servomotor output size is different or phase
Output torque same, that direction is similar and different；Robot remains static；
A2, in addition force driving machine device people are so that two arms at least one joint of robot are under external force driving
Perform relative motion；During external force driven machine people as study initial time start timing, or before external force driven machine people certain
Moment starts timing as study initial time, when every each study moment of time t of each encoder of main controller record
Practise output valve, until external force stops；
B, reset process: make each servomotor be in position or velocity mode by each driver；
C, operating procedure:
Main controller is by each servomotor action of each driver control；As operation during each servomotor of each driver drives
Initial time starts timing, the operation output valve when running initial time and every each time of running of time z for each encoder
Equal with the study output valve when learning initial time and every each study moment of time t for the encoder.
Invention also provides holding, with above-mentioned robot, another machine that teaching method belongs to same inventive concept
Device staff holds teaching method.
This robot holds teaching method, and described robot includes main controller, at least one joint；Described joint includes two
Individual arm, drive two arm relative motioies drive mechanism, drive mechanism include servomotor electrically connect with servomotor with
Control driver, the encoder of servomotor；Main controller is electrically connected with each driver, and the output of each encoder connects main controller；
Described robot is held teaching method and is comprised the steps:
A, learning procedure:
A1, each servomotor is made to be in torque mode by each driver, each servomotor output size is different or phase
Output torque same, that direction is similar and different；Robot remains static；
A2, in addition force driving machine device people are so that two arms at least one joint of robot are under external force driving
Perform relative motion；Main controller records when learning initial time and through each study duration of each encoder by the following method
Practise output valve, until external force stops: starting timing as study initial time during external force driven machine people, or external force driven machine
Sometime start timing as study initial time before people, the study output valve of main controller recording learning start time, and
Read study output valve when every each study moment of time t for each encoder；If later moment in time study output valve with front
The absolute value that one moment learnt the difference of output valve is more than or equal to a setting value, then the study of main controller record later moment in time is defeated
Go out value, in front and back the study duration between recording learning output valve twice；Described later moment in time study output valve is through this
Practise study output valve during duration；If later moment in time learns the absolute value that output valve learns the difference of output valve with previous moment
Less than described setting value, then main controller does not record later moment in time study output valve；
B, reset process: make each servomotor be in position or velocity mode by each driver；
C, operating procedure:
Main controller is by each servomotor action of each driver control；As operation during each servomotor of each driver drives
Initial time starts timing, each encoder run initial time and through each run duration when operation output valve and encoder
Study output valve when learning initial time and through each study duration is equal.
Beneficial effects of the present invention: in learning procedure, robot enters the torque mode of lower resistance, can use hand drive machine
Device people moves according to the track that operator needs, and during robot motion, the study output valve of each encoder can be at any time
Between change, main controller storage each study the moment when study output valve or through each learn duration when study output valve.?
Reset process, robot returns to the initial velocity state of initial time, and each servomotor is in position or velocity mode；Running
Step, that is, by each servomotor action of each driver control so that the operation output valve every time z of each encoder according to
The rule of the study output valve every time t of storage is changed, or make each encoder through each run duration when
Operation output valve according to storage, the rule of study output valve when each study duration is changed, so each joint
Action is i.e. completely the same with each joint action in learning procedure.In brief, this method, in teaching, uses hand drive machine
People moves according to the track that operator needs, robot system record movement locus, operationally robot showing according to record
Religion track is run, and simplifies the application teaching of robot.The method need not program for operator, and teaching track can be
Arbitrary trajectory, without any requirement to operator, greatly reduce the use cost of robot；Parts that the method uses etc.
Belong to conventional parts, low cost of manufacture.
Encoder position (study output valve) in main controller recorder people each joint in learning procedure, with this shape
Become track data, when robot automatic running, run according to unit interval pointwise, the method can avoid generation invalid in a large number
Data.Especially " size being learnt the absolute value of the difference of output valve according to later moment in time study output valve with previous moment is sentenced
The disconnected method whether recording later moment in time study output valve ", compared with conventional employing time recording location method, advantage is brighter
Aobvious, if adopting conventional method, when occurring when teaching to pause or slowly move, substantial amounts of record data can be produced, take money
Source, and be difficult to reject, bring adverse effect to running control.
Above-mentioned robot holds teaching method, it is characterized in that: while step a2 is carried out, also following step:
D1, main controller after each encoder that once records learn output valve and the front each encoder once recording learn defeated
Go out value to be compared, judge the direction of motion that one of each joint arm is with respect to another arm, and with this direction of motion
Positive direction for this joint；
If the output torque of d2 servomotor makes one of this joint arm have along institute with respect to another arm
State the trend of positive direction motion, then this servomotor of driver control is passed through with main controller so that the output of this servomotor is turned round
Square increases；If output torque makes an arm have along the opposite direction fortune contrary with described positive direction with respect to another arm
Dynamic trend, then pass through this servomotor of driver control with main controller so that the output torque of this servomotor reduces or changes
Become the direction of output torque.
This step enables to robot and is in assistant mode in learning procedure, reduces with required for hand drive robot
Strength.
Above-mentioned robot holds teaching method, and time z is the multiple of time t, or operation duration is study duration
Multiple.Time z can be the integral multiple of time t, or runs integral multiple (the now operating procedure opportunity that duration is study duration
Device human action is faster than learning procedure), time t can also be the integral multiple of time z, or study duration is the integer running duration
Again (now during learning procedure, robot motion is faster than operating procedure).
Above-mentioned robot holds teaching method, and main controller and each driver are one.
Above-mentioned robot holds teaching method, and drive mechanism also includes decelerator, the input shaft of decelerator and servo electricity
The output shaft of machine is connected；The support of reducer shell and servomotor is fixed on an arm in a joint, and decelerator is defeated
Shaft is connected with another arm in this joint.
Above-mentioned robot holds teaching method, and described robot at least includes the first joint, two joints of second joint；
One of two arms in first joint are fixed seats, and another is with respect to the first arm of fixed seat motion；Second
One of two arms in joint are the first arms, and another is the second arm with respect to the first arm motion.
Above-mentioned robot holds teaching method, and drive mechanism also includes nut-screw rod mechanism, and nut is fixed in joint
On one arm, it is connected with servo motor output shaft with the screw mandrel of nut screw connection；The support of servomotor is fixed in this joint
Another arm on；Another arm is slidably arranged in one of nut or this joint handss on the direction parallel to screw mandrel
On arm.
Above-mentioned robot holds teaching method, and drive mechanism also includes pinion and rack, and tooth bar is fixed in joint
On one arm, it is connected with servo motor output shaft with the gear of tooth bar cooperation；The support of servomotor is fixed in this joint
Another arm on；Another arm is slidably arranged on the arm of one of this joint on the direction parallel to tooth bar.
Brief description
Fig. 1 is the structural representation of joint of robot；
The theory diagrams such as Tu2Shi robot main controller, servomotor；
Fig. 3 is the schematic diagram of the joint of robot of study initial time；
Fig. 4 is the vertical view schematic diagram in the joint 1,2 of study initial time；
Fig. 5 is the schematic diagram of the joint of robot of study finish time；
Fig. 6 is the vertical view schematic diagram in the joint 1,2 of study finish time.
Specific embodiment
Robot shown in Figure 1 includes joint 15 totally 5 joints.
Joint 1 includes fixed seat as arm 11, arm 12, drives the driving machine that arm 12 rotates with respect to fixed seat
Structure 13, ring flange 14 etc..Drive mechanism 13 is included servomotor 131 and is electrically connected to control the drive of servomotor with servomotor
Dynamic device 132, the encoder 133 being connected with servomotor 131, decelerator 134.Ring flange 14 is fixed on arm (fixed seat) 11
On, servomotor 131 and decelerator 134 housing are each attached on ring flange 14.The input shaft of decelerator 134 and servomotor
131 output shaft is connected；Decelerator 134 output shaft is connected by bolt 15 with arm 12.Servomotor 131 action, by subtracting
Fast device 134 drives arm 12 to rotate in the horizontal plane around axis 16 with respect to fixed seat 11.
Joint 2 includes drive mechanism 23, the ring flange that arm 12, arm 22, driving arm 12 and arm 22 relatively rotate
24 etc..Drive mechanism 23 is included servomotor 231 and is electrically connected with servomotor to control the driver 232 of servomotor and to watch
Take encoder 233, the decelerator 234 that motor 231 is connected.Ring flange 24 is fixed on arm 22, servomotor 231 and decelerator
234 housings are each attached on ring flange 24.The input shaft of decelerator 234 is connected with the output shaft of servomotor 231；Decelerator
234 output shafts are connected by bolt 25 with arm 12.Servomotor 231 action, by decelerator 234 drive arm 22 with respect to
Arm 12 rotates in the horizontal plane around axis 26.
Joint 3 include arm 22, arm 32, drive arm 32 move up and down with respect to arm 22 drive mechanism 33, electricity
Machine support 34, line rail etc..Drive mechanism 33 is included servomotor 331 and is electrically connected to control the drive of servomotor with servomotor
Dynamic device 332, the encoder 333 being connected with servomotor 331, shaft coupling 335, nut-screw rod mechanism etc..Nut-screw rod mechanism wraps
Include the leading screw 336 being rotatably arranged on screw block 337, the take-up housing 338 being fixed on arm 22 is coordinated with leading screw and is fixed on
Nut 339 on take-up housing 338 etc..The line rail slide block 37 that line rail includes being arranged on take-up housing is slided up and down with line rail slide block
The guide rail 38 of cooperation.Electric machine support 34 and screw block are each attached on arm 32, and arm 32 and guide rail are fixed.Servomotor 331
Action, drives leading screw to rotate by shaft coupling, because nut is fixed on arm 22 by take-up housing, so leading screw is in rotation
Move up and down with respect to nut simultaneously.When leading screw moves up and down, the phase together such as screw block, servomotor 333, arm 32, guide rail
Take-up housing (and arm 22) is moved up and down.Line rail is arranged between take-up housing and arm 32, having moved up and down to arm
To guide effect.
Joint 4 mainly includes arm 32, arm 42, drives drive mechanism 43 of rotating with respect to arm 32 of arm 42 etc..
Drive mechanism 43 is included servomotor 431 and is electrically connected with servomotor to control driver 432 and the servo electricity of servomotor
The connected encoder 433 of machine 431, decelerator 434.Servomotor 431 and decelerator 434 housing are each attached on arm 32.Subtract
The input shaft of fast device 434 is connected with the output shaft of servomotor 431；Decelerator 434 output shaft passes through bolt 45 phase with arm 42
Even.Servomotor 431 action, drives arm 42 to rotate in the horizontal plane around axis with respect to arm 32 by decelerator 434.
Joint 5 mainly includes arm 42, arm 52, drives drive mechanism 53 of rotating with respect to arm 42 of arm 52 etc..
Drive mechanism 53 is included servomotor 531 and is electrically connected with servomotor to control driver 532 and the servo electricity of servomotor
The connected encoder 533 of machine 531, decelerator 534.Servomotor 531 and decelerator 534 housing are each attached on arm 42.Subtract
The input shaft of fast device 534 is connected with the output shaft of servomotor 531；Decelerator 534 output shaft passes through bolt 55 phase with arm 52
Even.Servomotor 531 action, by decelerator 534 drive arm 52 with respect to arm 42 around axis in vertical rotation in surface.
Referring to Fig. 2, main controller 6 is electrically connected with each driver 132,232,332,432,532, each encoder 133,233,
333rd, 433,533 output connects main controller.
Embodiment 1:
It is as follows that the first robot holds teaching method:
A, learning procedure:
A1, make each servomotor be in torque mode by each driver it is assumed that servomotor 131 output make arm
12 output torques n1 in horizontal plane with respect to arm 11 with the trend of rotating counterclockwise, servomotor 231 output makes arm
22 output torques n2 in horizontal plane with respect to arm 12 with the trend of rotating clockwise；Servomotor 331 output makes arm
32 output torques n3 in vertical plane with respect to arm 22 with the trend of moving up；Servomotor 431 output makes arm 42
There is in horizontal plane with respect to arm 31 output torque n4 of the trend of rotating counterclockwise, servomotor 531 output makes arm 52
With respect to arm 42 in output torque n5 vertically with the trend of rotating clockwise；Robot remains static.
A2, with hand drive robot it is assumed that when driving, (two arms referring in certain joint produce for joint 1,2,3 action
Relative motion), joint 4,5 not operating (refer in certain joint two arms and do not produce relative motion).Hand drive robot
Shi Zuowei study initial time starts timing, study output when every each study moment of 1s for each encoder of main controller record
Value, until external force stops, duration 5s altogether.Referring to Fig. 3,4, when starting the 0s of timing (study initial time), arm 12 with
Angle between vertical plane 7 is 0, and arm 22 and arm 12 angle in the horizontal plane are y0, and arm 32 top exceeds arm 22
The height of place horizontal plane is h0.Referring to Fig. 5,6, in after 5s (study finish time), between arm 12 and vertical plane 7
Angle is x1, and arm 22 and arm 12 angle in the horizontal plane are y1, and arm 32 top exceeds arm 22 place horizontal plane
It is highly h1.
Table 1 (respectively learning moment, the study output valve of each encoder):
| Moment | 0s | 1s | 2s | 3s | 4s | 5s |
| Encoder 133 | 0 | 1 | 2 | 3 | 5 | 8 |
| Encoder 233 | 0 | 2 | 3 | 5 | 5 | 9 |
| Encoder 333 | 0 | 0.3 | 0.4 | 0.6 | 0.9 | 1.2 |
| Encoder 433 | 0 | 0 | 0 | 0 | 0 | 0 |
| Encoder 533 | 0 | 0 | 0 | 0 | 0 | 0 |
In table 1, because joint 4,5 is not operating, so encoder 433,533 study output valve keeps constant.
For joint 1, the study output valve of the encoder 133 of main controller record is gradually increased (referring to table 1), arm 12 phase
Vertical plane 7 is rotated clockwise always.Because output torque n1 of servomotor 131 makes arm 12 exist with respect to arm 11
Horizontal plane has the trend of rotating counterclockwise, so during learning procedure, then controlling servo with main controller by driver 132
Motor 131 is so that output torque n1 of servomotor 131 reduces, or changes the direction of output torque n1, accomplishes opponent's operation machine
The power-assisted of device people.
For joint 2, the study output valve of the encoder 233 of main controller record is gradually increased (referring to table 1), arm 22 phase
Arm 12 is rotated clockwise always.Because output torque n2 of servomotor 231 makes arm 22 exist with respect to arm 12
Horizontal plane has the trend of rotating clockwise, so during learning procedure, then controlling servo with main controller by driver 232
Motor 231 so that servomotor 231 output torque n2 increase, the power-assisted of opponent's operation robot.
For joint 3, the study output valve of the encoder 333 of main controller record is gradually increased (referring to table 1), arm 32 phase
Arm 22 is reduced always.Because output torque n3 of servomotor 331 makes arm 32 with respect to arm 22 in vertical plane
There is the trend of moving up, so during learning procedure, then servomotor 331 is controlled by driver 332 with main controller,
Output torque n3 making servomotor 331 reduces, or changes the direction of output torque n3, accomplishes helping to mobile arm 32
Power.
For joint 4,5, the study output valve of the encoder 433,533 of main controller record is constant (referring to table 1), servo electricity
Output torque n4, the n5 size of machine 431,531, direction all keep constant.
B, reset process: make each servomotor be in position or velocity mode by each driver；Each servomotor moves
Make so that robot returns to the state of initial time that is to say, that the relative position of two arms in each joint revert to
Practise the state of initial time.
C, operating procedure:
Main controller is by each servomotor action of each driver control；As operation during each servomotor of each driver drives
Initial time starts timing, when each encoder of main controller record is in operation initial time and every each time of running of time 2s
Run output valve；Each encoder run initial time and operation output valve during every each time of running of 2s referring to table 2 (with
The study output valve when learning initial time and every each study moment of time t for the encoder is equal).
Table 2 (each time of running, the operation output valve of each encoder):
| Moment | 0s | 2s | 4s | 6s | 8s | 10s |
| Encoder 133 | 0 | 1 | 2 | 3 | 5 | 8 |
| Encoder 233 | 0 | 2 | 3 | 5 | 5 | 9 |
| Encoder 333 | 0 | 0.3 | 0.4 | 0.6 | 0.9 | 1.2 |
| Encoder 433 | 0 | 0 | 0 | 0 | 0 | 0 |
| Encoder 533 | 0 | 0 | 0 | 0 | 0 | 0 |
Embodiment 2:
It is as follows that second robot holds teaching method:
A, learning procedure:
A1, make each servomotor be in torque mode by each driver it is assumed that servomotor 131 output make arm
12 output torques n1 in horizontal plane with respect to arm 11 with the trend of rotating counterclockwise, servomotor 231 output makes arm
22 output torques n2 in horizontal plane with respect to arm 12 with the trend of rotating clockwise；Servomotor 331 output makes arm
32 output torques n3 in vertical plane with respect to arm 22 with the trend of moving up；Servomotor 431 output makes arm 42
There is in horizontal plane with respect to arm 31 output torque n4 of the trend of rotating counterclockwise, servomotor 531 output makes arm 52
With respect to arm 42 in output torque n5 vertically with the trend of rotating clockwise；Robot remains static.
A2, with hand drive robot it is assumed that when driving, (two arms referring in certain joint produce for joint 1,2,3 action
Relative motion), joint 4,5 not operating (refer in certain joint two arms and do not produce relative motion).Hand drive robot
Shi Zuowei study initial time starts timing, and study output valve when every each study moment of 1s for each encoder is referring to table 3.
In table 3, because joint 4,5 is not operating, so encoder 433,533 study output valve keeps constant.It is assumed that for encoder 133,
233rd, for 333,433,533, start recording that main controller sets about the setting value of data be 0.4 respectively, 0.3,0.2,
0.3、0.3.
Now taking joint 1 as a example explanation.The study output of encoder 133 main controller elder generation recording learning start time (during 0s)
Value 0, then study output valve when 1s reads each study moment.During for 1s, encoder 133 study output valve is 1.
Because 1s when study output valve be 1 with 0s when the difference of study output valve 0 absolute value be 1, relevant more than start recording
The setting value 0.4 of data, thus study output valve 1 during main controller record 1s, in front and back twice between recording learning output valve
Study duration 1s.Because 2s when study output valve be 1.2 with 1s when the difference of study output valve 1 absolute value be 0.2,
Less than start recording about data setting value 0.4, main controller do not record study output valve during 2s.When equally, because of 3s
Study output valve is 1.3 and the absolute value of the difference of study output valve 1.2 during 2s is 0.1, less than start recording about several
According to setting value 0.4, main controller do not record study output valve during 3s.Because during 4s, study output valve is 5 and during 3s
The absolute value of the difference of study output valve 1.3 is 3.7, more than start recording about data setting value 0.4, main controller record the
Study output valve 5 during 4s, in front and back twice recording learning output valve (record 4s when study output valve with record 1s when
Study output valve) between study duration 3s.Because during 5s, study output valve is 8 and the difference of study output valve 5 during 4s
Absolute value be 3, more than start recording about data setting value 0.4, study output valve 8 during main controller record 5s, front
Between recording learning output valve (recording study output valve during study output valve and record 4s during 5s) twice afterwards
Practise duration 1s.For joint 1, the study duration of main controller record and study output valve when this study duration are referring to table 4.
Same method, for joint 25, the study duration of main controller record is defeated with the study when this study duration
Go out value referring to table 58.In table 48, during study, a length of 0s represents study start time.
Referring to Fig. 3,4, when starting the 0s of timing (study initial time), the angle between arm 12 and vertical plane 7 is
0, arm 22 and arm 12 angle in the horizontal plane are y0, and the height that arm 32 top exceeds arm 22 place horizontal plane is
h0.Referring to Fig. 5,6, in after 5s (study finish time), the angle between arm 12 and vertical plane 7 is x1, arm 22 with
Arm 12 angle in the horizontal plane is y1, and the height that arm 32 top exceeds arm 22 place horizontal plane is h1.One after described
Moment learns the study output valve that output valve is when this study duration；If later moment in time study output valve with previous when
The absolute value carving the difference of study output valve is less than described setting value,
Table 3 (respectively learning moment, the study output valve of each encoder):
| Moment | 0s | 1s | 2s | 3s | 4s | 5s |
| Encoder 133 | 0 | 1 | 1.2 | 1.3 | 5 | 8 |
| Encoder 233 | 0 | 2 | 3 | 3.1 | 5 | 9 |
| Encoder 333 | 0 | 0.3 | 0.4 | 0.6 | 0.9 | 1.2 |
| Encoder 433 | 0 | 0 | 0 | 0 | 0 | 0 |
| Encoder 533 | 0 | 0 | 0 | 0 | 0 | 0 |
Table 4:
| Run duration | 0s | 1s | 3s | 1s |
| Encoder 133 | 0 | 1 | 5 | 8 |
Table 5:
| Study duration | 0s | 1s | 2s | 1s | 1s |
| Encoder 233 | 0 | 2 | 3 | 5 | 9 |
Table 6:
| Study duration | 0s | 1s | 2s | 1s | 1s |
| Encoder 333 | 0 | 0.3 | 0.6 | 0.9 | 1.2 |
Table 7:
| Study duration | 0s |
| Encoder 433 | 0 |
Table 8:
| Study duration | 0s |
| Encoder 533 | 0 |
Table 9:
| Run duration | 0s | 0.5s | 1.5s | 0.5s |
| Encoder 133 | 0 | 1 | 5 | 8 |
Table 10:
| Run duration | 0s | 0.5s | 1s | 0.5s | 0.5s |
| Encoder 233 | 0 | 2 | 3 | 5 | 9 |
Table 11:
| Run duration | 0s | 0.5s | 1s | 0.5s | 0.5s |
| Encoder 333 | 0 | 0.3 | 0.6 | 0.9 | 1.2 |
Table 12:
| Run duration | 0s |
| Encoder 433 | 0 |
Table 13:
| Run duration | 0s |
| Encoder 533 | 0 |
For joint 1, the study output valve of the encoder 133 of main controller record is gradually increased (referring to table 4), arm 12 phase
Vertical plane 7 is rotated clockwise always.Because output torque n1 of servomotor 131 makes arm 12 exist with respect to arm 11
Horizontal plane has the trend of rotating counterclockwise, so during learning procedure, then controlling servo with main controller by driver 132
Motor 131 is so that output torque n1 of servomotor 131 reduces, or changes the direction of output torque n1, accomplishes opponent's operation machine
The power-assisted of device people.
For joint 2, the study output valve of the encoder 233 of main controller record is gradually increased (referring to table 5), arm 22 phase
Arm 12 is rotated clockwise always.Because output torque n2 of servomotor 231 makes arm 22 exist with respect to arm 12
Horizontal plane has the trend of rotating clockwise, so during learning procedure, then controlling servo with main controller by driver 232
Motor 231 so that servomotor 231 output torque n2 increase, the power-assisted of opponent's operation robot.
For joint 3, the study output valve of the encoder 333 of main controller record is gradually increased (referring to table 6), arm 32 phase
Arm 22 is reduced always.Because output torque n3 of servomotor 331 makes arm 32 with respect to arm 22 in vertical plane
There is the trend of moving up, so during learning procedure, then servomotor 331 is controlled by driver 332 with main controller,
Output torque n3 making servomotor 331 reduces, or changes the direction of output torque n3, accomplishes helping to mobile arm 32
Power.
For joint 4,5, the study output valve of the encoder 433,533 of main controller record is constant (referring to table 7,8), servo
Output torque n4, the n5 size of motor 431,531, direction all keep constant.
B, reset process: make each servomotor be in position or velocity mode by each driver；Each servomotor moves
Make so that robot returns to the state of initial time that is to say, that the relative position of two arms in each joint revert to
Practise the state of initial time.
C, operating procedure:
Main controller is by each servomotor action in each joint of each driver control；The each servomotor of each driver drives
Shi Zuowei runs initial time and starts timing, and each encoder runs output valve when running initial time and through each operation duration
Equal with the study output valve when learning initial time and through each study duration for the encoder.If study duration is corresponding
Run duration twice when, each run duration with through each learn duration when the corresponding form of study output valve be shown in Table 9 13.
Claims (10)
1. robot holds teaching method, and described robot includes main controller, at least one joint；Described joint includes two handss
Arm, the drive mechanism of two arm relative motioies of driving, drive mechanism is included servomotor and is electrically connected to control with servomotor
The driver of servomotor, encoder；Main controller is electrically connected with each driver, and the output of each encoder connects main controller；
Described robot is held teaching method and is comprised the steps:
A, learning procedure:
A1, each servomotor is made to be in torque mode by each driver, each servomotor output size is similar and different, side
To similar and different output torque；Robot remains static；
A2, in addition force driving machine device people are so that two arms at least one joint of robot make phase under external force driving
To motion；Start timing as study initial time during external force driven machine people, or before external force driven machine people sometime
Start timing as study initial time, study when every each study moment of time t for each encoder of main controller record is defeated
Go out value, until external force stops；
B, reset process: make each servomotor be in position or velocity mode by each driver；
C, operating procedure:
Main controller is by each servomotor action of each driver control；Initial as running during each servomotor of each driver drives
Moment starts timing, and each encoder is running initial time and operation output valve during every each time of running of time z and volume
The study output valve when learning initial time and every each study moment of time t for the code device is equal.
2. robot as claimed in claim 1 holds teaching method, it is characterized in that: time z is the multiple of time t.
3. robot holds teaching method, and described robot includes main controller, at least one joint；Described joint includes two handss
Arm, the drive mechanism of two arm relative motioies of driving, drive mechanism is included servomotor and is electrically connected to control with servomotor
The driver of servomotor, encoder；Main controller is electrically connected with each driver, and the output of each encoder connects main controller；
Described robot is held teaching method and is comprised the steps:
A, learning procedure:
A1, each servomotor is made to be in torque mode by each driver, each servomotor output size is similar and different, side
To similar and different output torque；Robot remains static；
A2, in addition force driving machine device people are so that two arms at least one joint of robot make phase under external force driving
To motion；It is defeated that main controller records the study when learning initial time and through each study duration for each encoder by the following method
Go out value, until external force stop: during external force driven machine people as study initial time start timing, or external force driven machine people it
Front sometime start timing, the study output valve of main controller recording learning start time as study initial time, and read
Study output valve when every each study moment of time t for each encoder；If later moment in time study output valve with previous when
The absolute value carving the difference of study output valve is more than or equal to a setting value, then main controller record later moment in time study output
Value, in front and back the study duration between recording learning output valve twice；Described later moment in time study output valve is through this study
Study output valve during duration；If the absolute value that later moment in time learns the difference that output valve learns output valve with previous moment is little
In described setting value, then main controller does not record later moment in time study output valve；
B, reset process: make each servomotor be in position or velocity mode by each driver；
C, operating procedure:
Main controller is by each servomotor action of each driver control；Initial as running during each servomotor of each driver drives
Moment starts timing, and the operation output valve when running initial time and through each operation duration for each encoder is being learned with encoder
Practise initial time and study output valve when each study duration is equal.
4. robot as claimed in claim 3 holds teaching method, it is characterized in that: runs the multiple that duration is study duration.
5. described robot as arbitrary in claim 1-4 holds teaching method, it is characterized in that: while step a2 is carried out,
Also following step:
D1, main controller after each encoder that once records learn output valve and the front each encoder study output valve once recording
It is compared, judge the direction of motion that one of each joint arm is with respect to another arm, and with this direction of motion for this
The positive direction in joint；
If the output torque of d2 servomotor make one of this joint arm with respect to another arm have along described just
The trend of direction motion, then pass through this servomotor of driver control with main controller so that the output torque of this servomotor increases
Greatly；If output torque makes an arm have what the edge opposite direction contrary with described positive direction was moved with respect to another arm
Trend, then pass through this servomotor of driver control with main controller so that the output torque of this servomotor reduces or changes defeated
Go out the direction of moment of torsion.
6. described robot as arbitrary in claim 1-4 holds teaching method, it is characterized in that: described external force refers to the arm strength of people.
7. described robot as arbitrary in claim 1-4 holds teaching method, it is characterized in that: drive mechanism also includes slowing down
Device, the input shaft of decelerator is connected with the output shaft of servomotor；The support of reducer shell and servomotor is fixed on one
On an arm in joint, reducer output shaft is connected with another arm in this joint.
8. robot as claimed in claim 7 holds teaching method, it is characterized in that: described robot at least includes the first pass
Section, two joints of second joint；One of two arms in first joint are fixed seats, and another is with respect to fixed seat
First arm of motion；One of two arms in second joint are the first arms, and another is with respect to the first arm
Second arm of motion.
9. described robot as arbitrary in claim 1-4 holds teaching method, it is characterized in that: drive mechanism also includes nut silk
Linkage, nut is fixed on an arm in joint, is connected with servo motor output shaft with the screw mandrel of nut screw connection；Servo electricity
The support of machine is fixed on another arm in this joint；Another arm is slidably arranged on the direction parallel to screw mandrel
On one of nut or this joint arm.
10. described robot as arbitrary in claim 1-4 holds teaching method, it is characterized in that: drive mechanism also includes gear
Rackwork, tooth bar is fixed on an arm in joint, is connected with servo motor output shaft with the gear of tooth bar cooperation；Servo
The support of motor is fixed on another arm in this joint；Another arm is in the square upward sliding setting parallel to tooth bar
On the arm of one of this joint.
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| CN201510274550.7A CN104959983B (en) | 2015-05-26 | 2015-05-26 | Robot handheld demonstration method |
| PCT/CN2016/083211 WO2016188409A1 (en) | 2015-05-26 | 2016-05-24 | Manually taught robot and method for manually teaching robot |
| US15/569,363 US10603789B2 (en) | 2015-05-26 | 2016-05-24 | Manually taught robot and method for manually teaching robot |
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| US10603789B2 (en) | 2015-05-26 | 2020-03-31 | Suzhou Amtf Robots Co., Ltd | Manually taught robot and method for manually teaching robot |
| CN106041938A (en) * | 2016-08-16 | 2016-10-26 | 京磁材料科技股份有限公司 | Manipulator having imitating and repeating functions and control method of manipulator |
| CN106737691A (en) * | 2017-02-07 | 2017-05-31 | 珠海金萝卜智动科技有限公司 | The method and apparatus of manual teaching robot |
| US10888385B2 (en) * | 2018-07-09 | 2021-01-12 | Point Robotics Medtech Inc. | Calibration device and calibration method for surgical instrument |
| CN111421571A (en) * | 2019-01-09 | 2020-07-17 | 苏州吉泰兴机电设备有限公司 | Four-axis robot |
| CN112054738A (en) * | 2020-09-09 | 2020-12-08 | 福安市高博特电机科技有限公司 | Automatic adjusting type frequency conversion controller |
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| CN104002296A (en) * | 2013-02-21 | 2014-08-27 | 株式会社安川电机 | Robot simulator, robot teaching apparatus and robot teaching method |
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| CN104635714A (en) * | 2014-12-12 | 2015-05-20 | 同济大学 | Robot demonstrating track generating method based on time-space characteristics |
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| JP4780551B2 (en) * | 2005-03-11 | 2011-09-28 | 日東精工株式会社 | Application robot |
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| CN1033701A (en) * | 1987-10-23 | 1989-07-05 | 三菱重工业株式会社 | The method of the director data in record and the reproduction robot |
| CN104254430A (en) * | 2012-03-07 | 2014-12-31 | 佳能株式会社 | Robot controlling device, robot apparatus, robot control method, program for executing robot control method, and recording medium on which program is recorded |
| CN104002296A (en) * | 2013-02-21 | 2014-08-27 | 株式会社安川电机 | Robot simulator, robot teaching apparatus and robot teaching method |
| CN104635714A (en) * | 2014-12-12 | 2015-05-20 | 同济大学 | Robot demonstrating track generating method based on time-space characteristics |
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Address after: Xinghan Street Industrial Park of Suzhou city in Jiangsu province 215000 No. 5 Building 5 unit 103 Patentee after: Suzhou Fu robot Co Ltd Address before: The streets of Chunhua road in Jiangning District of Nanjing City, 211123 tigers in Jiangsu province No. 2 Patentee before: AMTF CORPORATION |