CN105945996A - Balance algorithm for dragging teaching robot - Google Patents
Balance algorithm for dragging teaching robot Download PDFInfo
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- CN105945996A CN105945996A CN201610462830.5A CN201610462830A CN105945996A CN 105945996 A CN105945996 A CN 105945996A CN 201610462830 A CN201610462830 A CN 201610462830A CN 105945996 A CN105945996 A CN 105945996A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/0012—Balancing devices using fluidic devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/007—Means or methods for designing or fabricating manipulators
Abstract
The invention relates to a balance algorithm for dragging a teaching robot. The balance algorithm comprises three parts, namely static balance, dynamic balance and error control, wherein a static balance algorithm can be used for computing static pressure compensation values set_bal_ax2 of a second robot axis in different poses and static pressure compensation values set_bal_ax3 of a third robot axis in different poses; a dynamic balance algorithm is divided into a second axis algorithm and a third axis algorithm for the teaching robot; a closed-loop control system composed of signal input, a proportionality coefficient K(.), a solenoid valve and signal output is adopted in error control, and by adjusting the values of parameter gain K and the proportionality coefficient K(.), the speed continuity of robot dragging is met and meanwhile the trajectory accuracy of the robot is guaranteed. According to the balance algorithm provided by the invention, space is divided into different quadrants, and compensation values are computed by algorithms of the different quadrants to guide the support strength of air cylinders for the second axis and the third axis, so that the difficulty in manually moving a mechanical arm during a teaching process is reduced, the improvement of teaching accuracy is facilitated, and the teaching effect is guaranteed.
Description
Technical field
The present invention relates to industrial robot control method technical field, a kind of drag the flat of teaching robot
Account method.
Background technology
Along with the development of industrial automation, the use field of industrial robot is increasing, and the advanced technology of robot is also
Improving constantly and be applied in actual field.Along with the application of robot is more and more extensive, the track of robot is wanted
Asking more and more higher, this is accomplished by more professional teaching engineer and carries out on-the-spot teaching, this teaching side by hand-held demonstrator
Formula not only inefficiency, and take time and effort, it is easy to cause tutorial program to be made mistakes.People drag teaching frequently with one at present
Method realizes robot freely dragging, and automatic recorder device people's track, improves robot teaching efficiency greatly.
In Six-DOF industrial robot, owing to the second axle of robot and the 3rd axle are by rod member quality, gravity, machine
The factor impacts such as device people's different positions and pose are more, and other axle influences are less, so the stress of other axles is typically not considered.
After opening motor internal contracting brake, robot the second axle the 3rd axle falls, it is impossible to enough keep robot balance.Therefore, during teaching
Robot to be realized balances, and needing to increase by two cylinders provides the second axle and the support force of the 3rd axle, robot control system
Passing ratio valve adjusts the air pressure of cylinder in real time, thus realizes robot and provide enough in the case of opening motor internal contracting brake
Moment keeps balance, and the quality of the control algolithm of robot control system just becomes to determine industrial robot second during teaching
Axle and the key of the 3rd axle auxiliary support effect.
Summary of the invention
For above-mentioned technical problem, the present invention proposes a kind of balanced algorithm dragging teaching robot, is used for realizing machine
People is in the case of opening motor internal contracting brake, it is provided that enough moment keeps the balance of industrial robot.
A kind of balanced algorithm dragging teaching robot, including three below part:
(1) static equilibrium:
Static equilibrium algorithm is just to provide robot the second axle and the static equilibrium air pressure of the 3rd axle, keeps robot quiet
Only keep the balance of robot during state.
Robot the second axle static pressure offset set_bal_ under different poses can be calculated by formula (1)
Ax2, can be calculated robot the 3rd axle static pressure offset set_bal_ax3 under different poses by formula (2).
Set_bal_ax3=par_3 [0]+par_3 [3] * (-robot.axis [3])/90.0 (2)
In formula: par_2 [1] is robot the second axle basic pressure value, par_2 [2] is robot the second axle static pressure
Value；Par_3 [0] is robot the 3rd axle basic pressure value, and par_3 [3] is robot the 3rd axle static pressure force value；
Robot.axis [2] is robot the second shaft angle angle value, and robot.axis [3] is robot the 3rd shaft angle angle value.
When robot the second axle and the 3rd axle are under different poses, utilizing (1) formula and (2) formula can be that cylinder provides pressure
Force compensating value provides accurate foundation, thus realizes robot and be in poised state.
(2) dynamic equilibrium:
Dynamic load-balancing algorithm is exactly at robot the second axle and the 3rd axle during movement, by gravity, frictional force
Affecting etc. factor, robot control system provides corresponding pressure supplement to respectively the second axle and the 3rd axle, thus outside overcoming
The impact of portion's factor, makes operator realize the dragging of robot the most easily in effortless situation.
The dynamic equilibrium calculation of the second axle:
When robot, the second axle current angular is negative angle, when dragging robot second axial positive direction motion, uses public affairs
Formula (3) carries out pressure compensation；When dragging robot second axial negative direction motion, formula (4) is used to carry out pressure compensation.
When robot, the second axle current angular is positive-angle, when dragging robot second axial positive direction motion, uses public affairs
Formula (5) carries out pressure compensation；When dragging robot second axial negative direction motion, formula (6) is used to carry out pressure compensation.
Set_bar_ax2=set_bar_ax2+par_2 [5] * cos (robot.axis [2]/180*PI) (3)
Set_bar_ax2=set_bar_ax2-par_2 [6] * cos (robot.axis [2]/180*PI) (4)
Set_bar_ax2=set_bar_ax2-par_2 [7] * cos (robot.axis [2]/180*PI) (5)
Set_bar_ax2=set_bar_ax2+par_2 [8] * cos (robot.axis [2]/180*PI) (6)
In formula: the set_bal_ax2 on the left of equation is the demand dynamic compensation value of robot the second axle, on the right side of equation
Set_bal_ax2 is the current dynamic compensation value of robot the second axle, par_2 [5] be robot the second axle when negative angle to
The dynamic pressure value of rear motion；Par_2 [6] is robot the second axle proal dynamic pressure value when negative angle；par_2
[7] it is robot the second axle proal dynamic pressure value when positive-angle；Par_2 [8] is that robot the second axle is at positive angle
The dynamic pressure value of rearward movement when spending.
The dynamic equilibrium calculation of the 3rd axle:
When robot the 3rd axial positive direction motion, formula (7) is used to carry out pressure compensation；
When robot the 3rd axial negative direction motion, formula (8) is used to carry out pressure compensation.
Set_bar_ax3=set_bar_ax3+par_3 [1] (7)
Set_bar_ax3=set_bar_ax3-par_3 [2] (8)
In formula: the set_bal_ax3 on the left of equation is the demand dynamic compensation value of robot the 3rd axle, on the right side of equation
Set_bal_ax3 is the current dynamic compensation value of robot the 3rd axle, and par_3 [1] is that robot the 3rd axle is proal dynamic
State force value；Par_3 [2] is the front dynamic pressure value moved after robot the 3rd axle.
(3) error control
Although static compensation and dynamic compensation algorithm calculate very accurate, but there is deviation in real process, i.e. set pressure
Force value and the difference e of actual actual pressure value.In order to reduce error, need error is suppressed.
The closed-loop control system formed is exported by signal input, gain K, Proportional coefficient K (), electromagnetic valve and signal
In, by adjusting parametric gain K and the value of Proportional coefficient K (), the speed that can meet robot dragging is continuous, ensures simultaneously
The path accuracy of robot.
The invention has the beneficial effects as follows:
The present invention is as a example by Six-DOF industrial robot, using the mechanical joint of Six-DOF industrial robot as coordinate
Initial point, by dividing the space into different quadrant, and calculates algorithms of different for different quadrants, utilizes the offset that algorithm draws
The cylinder instructing the second axle and the 3rd axle carries out the static equilibrium of robot, dynamic equilibrium supports.It addition, error control ensure that
Robot support degree of accuracy under static and dynamic teaching environment, the auxiliary providing practicality for teaching supports, and reduces and shows
The difficulty of artificial mobile mechanical arm during religion, is conducive to improving teaching degree of accuracy, it is ensured that teaching effect.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is closing of the signal input of the present invention, gain K, Proportional coefficient K (), electromagnetic valve and signal output composition
Ring control system.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below right
The present invention is expanded on further.
A kind of balanced algorithm dragging teaching robot, including static equilibrium and dynamic equilibrium:
(1) static equilibrium:
First the basic parameter of robot is determined: making par_2 [1] is robot the second axle basic pressure value, par_2 [2]
For robot the second axle static pressure force value；Par_3 [0] is robot the 3rd axle basic pressure value, and par_3 [3] is robot
Three axle static pressure force value；Robot.axis [2] is robot the second shaft angle angle value, and robot.axis [3] is robot the 3rd axle
Angle value.
Robot the second axle static pressure offset set_bal_ax2 under different poses is calculated by formula (1),
Robot the 3rd axle static pressure offset set_bal_ax3 under different poses is calculated by formula (2).
Set_bal_ax3=par_3 [0]+par_3 [3] * (-robot.axis [3])/90.0 (2)
When robot the second axle and the 3rd axle are under different poses, utilizing (1) formula and (2) formula can be that cylinder provides pressure
Force compensating value provides accurate foundation, thus realizes robot and be in poised state.
(2) dynamic equilibrium:
Dynamic load-balancing algorithm is exactly that robot control system divides at robot the second axle and the 3rd axle during movement
The second axle and the 3rd axle Gei not provide corresponding pressure supplement, according to dynamic equilibrium and the dynamic equilibrium of the 3rd axle of the second axle
It is described separately.
The dynamic equilibrium calculation of the second axle:
When robot, the second axle current angular is negative angle, when dragging robot second axial positive direction motion, uses public affairs
Formula (3) carries out pressure compensation；When dragging robot second axial negative direction motion, formula (4) is used to carry out pressure compensation.
When robot, the second axle current angular is positive-angle, when dragging robot second axial positive direction motion, uses public affairs
Formula (5) carries out pressure compensation；When dragging robot second axial negative direction motion, formula (6) is used to carry out pressure compensation.
Set_bar_ax2=set_bar_ax2+par_2 [5] * cos (robot.axis [2]/180*PI) (3)
Set_bar_ax2=set_bar_ax2-par_2 [6] * cos (robot.axis [2]/180*PI) (4)
Set_bar_ax2=set_bar_ax2-par_2 [7] * cos (robot.axis [2]/180*PI) (5)
Set_bar_ax2=set_bar_ax2+par_2 [8] * cos (robot.axis [2]/180*PI) (6)
In formula: the set_bal_ax2 on the left of equation is the demand dynamic compensation value of robot the second axle, on the right side of equation
Set_bal_ax2 is the current dynamic compensation value of robot the second axle, par_2 [5] be robot the second axle when negative angle to
The dynamic pressure value of rear motion；Par_2 [6] is robot the second axle proal dynamic pressure value when negative angle；par_2
[7] it is robot the second axle proal dynamic pressure value when positive-angle；Par_2 [8] is that robot the second axle is at positive angle
The dynamic pressure value of rearward movement when spending.
The dynamic equilibrium calculation of the 3rd axle:
When robot the 3rd axial positive direction motion, formula (7) is used to carry out pressure compensation；
When robot the 3rd axial negative direction motion, formula (8) is used to carry out pressure compensation.
Set_bar_ax3=set_bar_ax3+par_3 [1] (7)
Set_bar_ax3=set_bar_ax3-par_3 [2] (8)
In formula: the set_bal_ax3 on the left of equation is the demand dynamic compensation value of robot the 3rd axle, on the right side of equation
Set_bal_ax3 is the current dynamic compensation value of robot the 3rd axle, and par_3 [1] is that robot the 3rd axle is proal dynamic
State force value；Par_3 [2] is the front dynamic pressure value moved after robot the 3rd axle.
Although static compensation and dynamic compensation algorithm calculate very accurate, but there is deviation in real process, i.e. set pressure
Force value and the difference e of actual actual pressure value.In order to reduce error, need error is suppressed.
The closed-loop control system formed is exported by signal input, gain K, Proportional coefficient K (), electromagnetic valve and signal
In, by adjusting parametric gain K and the value of Proportional coefficient K (), the speed that can meet robot dragging is continuous, ensures simultaneously
The path accuracy of robot.
The ultimate principle of the present invention, principal character and advantages of the present invention have more than been shown and described.The technology of the industry
The personnel simply present invention it should be appreciated that the present invention is not restricted to the described embodiments, described in above-described embodiment and description
Principle, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, these change and
Improvement both falls within claimed invention.Claimed scope is by appending claims and equivalent circle thereof
Fixed.
Claims (4)
1. the balanced algorithm dragging teaching robot, it is characterised in that: include static equilibrium, dynamic equilibrium and error control
Three parts:
Orthostatic algorithm is:
Robot the second axle static pressure offset set_bal_ax2 under different poses can be calculated by formula (1), by
Formula (2) can calculate robot the 3rd axle static pressure offset set_bal_ax3 under different poses；
Set_bal_ax3=par_3 [0]+par_3 [3] * (-robot.axis [3])/90.0 (2)
In formula: par_2 [1] is robot the second axle basic pressure value, par_2 [2] is robot the second axle static pressure force value；
Par_3 [0] is robot the 3rd axle basic pressure value, and par_3 [3] is robot the 3rd axle static pressure force value；robot.axis
[2] being robot the second shaft angle angle value, robot.axis [3] is robot the 3rd shaft angle angle value.
A kind of balanced algorithm dragging teaching robot the most according to claim 1, it is characterised in that:
The algorithm of described dynamic equilibrium is divided into the second axle algorithm and the 3rd axle algorithm of teaching robot, particularly as follows:
The dynamic equilibrium calculation of the second axle:
When robot, the second axle current angular is negative angle, when dragging robot second axial positive direction motion, uses formula (3)
Carry out pressure compensation；When dragging robot second axial negative direction motion, formula (4) is used to carry out pressure compensation；
When robot, the second axle current angular is positive-angle, when dragging robot second axial positive direction motion, uses formula (5)
Carry out pressure compensation；When dragging robot second axial negative direction motion, formula (6) is used to carry out pressure compensation；
Set_bar_ax2=set_bar_ax2+par_2 [5] * cos (robot.axis [2]/180*PI) (3)
Set_bar_ax2=set_bar_ax2-par_2 [6] * cos (robot.axis [2]/180*PI) (4)
Set_bar_ax2=set_bar_ax2-par_2 [7] * cos (robot.axis [2]/180*PI) (5)
Set_bar_ax2=set_bar_ax2+par_2 [8] * cos (robot.axis [2]/180*PI) (6)
In formula: the set_bal_ax2 on the left of equation is the demand dynamic compensation value of robot the second axle, the set_ on the right side of equation
Bal_ax2 is the current dynamic compensation value of robot the second axle, and par_2 [5] is that robot the second axle is transported backward when negative angle
Dynamic basic pressure value；Par_2 [6] is robot the second axle proal dynamic pressure value when negative angle；par_2[7]
For robot the second axle proal dynamic pressure value when positive-angle；Par_2 [8] is that robot the second axle is when positive-angle
The dynamic pressure value of rearward movement.
A kind of balanced algorithm dragging teaching robot the most according to claim 2, it is characterised in that:
The dynamic load-balancing algorithm of the 3rd axle is:
When robot the 3rd axial positive direction motion, formula (7) is used to carry out pressure compensation；
When robot the 3rd axial negative direction motion, formula (8) is used to carry out pressure compensation；
Set_bar_ax3=set_bar_ax3+par_3 [1] (7)
Set_bar_ax3=set_bar_ax3-par_3 [2] (8)
In formula: the set_bal_ax3 on the left of equation is the demand dynamic compensation value of robot the 3rd axle, the set_ on the right side of equation
Bal_ax3 is the current dynamic compensation value of robot the 3rd axle, and par_3 [1] is robot the 3rd proal dynamic pressure of axle
Force value；Par_3 [2] is the front dynamic pressure value moved after robot the 3rd axle.
4. according to a kind of balanced algorithm dragging teaching robot according to any one of claim 1-3, it is characterised in that:
Described error control uses by closing that the output of signal input, gain K, Proportional coefficient K (), electromagnetic valve and signal forms
Ring control system, by adjusting parametric gain K and the value of Proportional coefficient K (), the speed meeting robot dragging is continuous, simultaneously
Ensure the path accuracy of robot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610462830.5A CN105945996B (en) | 2016-06-23 | 2016-06-23 | A kind of balanced algorithm for dragging teaching robot |
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| CN201610462830.5A CN105945996B (en) | 2016-06-23 | 2016-06-23 | A kind of balanced algorithm for dragging teaching robot |
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| CN105945996B CN105945996B (en) | 2018-07-10 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0019596B1 (en) * | 1979-05-11 | 1983-11-09 | BASFER S.p.A. | Robot with light-weight, inertia-free programming device |
| CN1307956A (en) * | 2000-06-30 | 2001-08-15 | 佛山市佛山机器人有限公司 | Hand-in-hand demonstration 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 |
| CN103495977A (en) * | 2013-09-29 | 2014-01-08 | 北京航空航天大学 | 6R-type industrial robot load identification method |
| CN203460180U (en) * | 2013-08-12 | 2014-03-05 | 刘达 | Robot capable of directly dragging and teaching |
| CN104162890A (en) * | 2014-07-04 | 2014-11-26 | 倪立新 | Step-by-step teaching robot based on motor power and control method thereof |
-
2016
- 2016-06-23 CN CN201610462830.5A patent/CN105945996B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0019596B1 (en) * | 1979-05-11 | 1983-11-09 | BASFER S.p.A. | Robot with light-weight, inertia-free programming device |
| CN1307956A (en) * | 2000-06-30 | 2001-08-15 | 佛山市佛山机器人有限公司 | Hand-in-hand demonstration 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 |
| CN203460180U (en) * | 2013-08-12 | 2014-03-05 | 刘达 | Robot capable of directly dragging and teaching |
| CN103495977A (en) * | 2013-09-29 | 2014-01-08 | 北京航空航天大学 | 6R-type industrial robot load identification method |
| CN104162890A (en) * | 2014-07-04 | 2014-11-26 | 倪立新 | Step-by-step teaching robot based on motor power and control method thereof |
Non-Patent Citations (2)
| Title |
|---|
| 李占贤等: "关节型机器人示教机构平衡设计与优化", 《机械工程师》 * |
| 黄龙等: "工业机器人气缸活塞平衡系统的优化设计", 《机器人》 * |
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