CN105945996B - A kind of balanced algorithm for dragging teaching robot - Google Patents
A kind of balanced algorithm for dragging teaching robot Download PDFInfo
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- CN105945996B CN105945996B CN201610462830.5A CN201610462830A CN105945996B CN 105945996 B CN105945996 B CN 105945996B CN 201610462830 A CN201610462830 A CN 201610462830A CN 105945996 B CN105945996 B CN 105945996B
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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 present invention relates to a kind of balanced algorithm for dragging teaching robot, including three static balancing, dynamic equilibrium and control errors parts：Static balancing algorithm is the static pressure offset set_bal_ax3 that can calculate static pressure offset set_bal_ax2 and robot third axis of the second axis of robot under different poses under different poses；The algorithm of the dynamic equilibrium is divided into the second axis algorithm of teaching robot and third axis algorithm；The control errors are using the closed-loop control system inputted by signal, the output of gain K, Proportional coefficient K (), solenoid valve and signal forms, by adjusting the value of parametric gain K and Proportional coefficient K (), the speed for meeting robot dragging is continuous, while ensures the path accuracy of robot.The present invention is by dividing the space into different quadrants, offset is obtained using the algorithm of different quadrants, instructs the cylinder supports intensity of the second axis and third axis, reduces the difficulty of artificial mobile mechanical arm during teaching, be conducive to improve teaching accuracy, ensure teaching effect.
Description
Technical field
The present invention relates to industrial robot control method technical fields, specifically a kind of to drag the flat of teaching robot
Account method.
Background technology
With the development of industrial automation, the advanced technology of robot increasing using field of industrial robot
It is being continuously improved and is being applied in actual field.It is more and more extensive with the application of robot, it will to the track of robot
Ask also higher and higher, this just needs more professional teaching engineer to carry out live teaching, this teaching side by hand-held teaching machine
Formula not only inefficiency, but also take time and effort, it is easy to tutorial program be caused to malfunction.People are frequently with a kind of dragging teaching at present
Method realizes robot freely dragging, and automatic recorder device people track, greatly improves robot teaching efficiency.
In Six-DOF industrial robot, since the second axis and third axis of robot are by rod piece quality, gravity, machine
The influence of the factors such as device people's different positions and pose is more, other axis are less by being influenced, so the stress of other axis is generally not considered.
After opening motor internal contracting brake, robot the second axis third axis falls, it is impossible to robot be kept to balance.Therefore, during teaching
It realizes that robot balances, needs to increase by two cylinders to provide the support force of the second axis and third axis, robot control system
It adjusts the air pressure of cylinder in real time by proportioning valve, is provided enough so as to fulfill robot in the case where opening motor internal contracting brake
Torque keeps balance, and the control algolithm of robot control system is good and bad just into industrial robot second during decision teaching
The key of axis and third axis Auxiliary support effect.
Invention content
For above-mentioned technical problem, the present invention proposes a kind of balanced algorithm for dragging teaching robot, is used to implement machine
People provides the balance that enough torque keeps industrial robot in the case where opening motor internal contracting brake.
A kind of balanced algorithm for dragging teaching robot, including following three parts：
(1) static balancing：
Static balancing algorithm is just to provide the static balancing air pressure of the second axis of robot and third axis, keeps robot quiet
The balance of robot is only kept during state.
Static pressure offset set_bal_ of the second axis of robot under different poses can be calculated by formula (1)
Ax2 can calculate static pressure offset set_bal_ax3 of the robot third axis 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 axis basic pressure value, and par_2 [2] is robot the second axis static pressure
Value；Par_3 [0] is robot third axis basic pressure value, and par_3 [3] is robot third axis static pressure force value；
Robot.axis [2] is robot the second shaft angle angle value, and robot.axis [3] is robot third shaft angle angle value.
When the second axis of robot and third axis are under different poses, utilization (1) formula and (2) formula can provide pressure for cylinder
Force compensating value provides accurate foundation, and equilibrium state is in so as to fulfill robot.
(2) dynamic equilibrium：
Dynamic load-balancing algorithm is exactly in the second axis of robot and third axis during movement, by gravity, frictional force
Etc. factors influence, robot control system provides corresponding pressure supplement to the second axis and third axis respectively, outer so as to overcome
The influence of portion's factor makes operator easily realize very much the dragging of robot in effortless situation.
The dynamic equilibrium calculation of second axis：
When robot the second axis current angular is negative angle, and the second axial positive direction of dragging robot moves, using public affairs
Formula (3) carries out pressure compensation；When dragging robot the second axial direction negative direction movement, pressure compensation is carried out using formula (4).
When robot the second axis current angular is positive-angle, and the second axial positive direction of dragging robot moves, using public affairs
Formula (5) carries out pressure compensation；When dragging robot the second axial direction negative direction movement, pressure compensation is carried out using formula (6).
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：Set_bal_ax2 on the left of equation is the demand dynamic offset of the second axis of robot, on the right side of equation
Set_bal_ax2 be the second axis of robot current dynamic offset, par_2 [5] for the second axis of robot in negative angle to
The dynamic pressure value moved afterwards；Par_2 [6] is the dynamic pressure value that the second axis of robot travels forward in negative angle；par_2
[7] the dynamic pressure value to travel forward for the second axis of robot in positive-angle；Par_2 [8] is the second axis of robot in positive angle
The dynamic pressure value moved backward when spending.
The dynamic equilibrium calculation of third axis：
When robot third axial direction positive direction movement, pressure compensation is carried out using formula (7)；
When robot third axial direction negative direction movement, pressure compensation is carried out using formula (8).
Set_bar_ax3=set_bar_ax3+par_3 [1] (7)
Set_bar_ax3=set_bar_ax3-par_3 [2] (8)
In formula：Set_bal_ax3 on the left of equation is the demand dynamic offset of robot third axis, on the right side of equation
Set_bal_ax3 is the current dynamic offset of robot third axis, and par_3 [1] travels forward dynamic for robot third axis
State pressure value；Par_3 [2] is the dynamic pressure value of preceding movement after robot third axis.
(3) control errors
Although it is very accurate that static compensation and dynamic compensation algorithm calculate, there are deviations, i.e. setting pressure in real process
The difference e of force value and practical actual pressure value.In order to reduce error, need to inhibit error.
It is inputted by signal, the closed-loop control system that the output of gain K, Proportional coefficient K (), solenoid valve and signal forms
In, by adjusting the value of parametric gain K and Proportional coefficient K (), the speed that can meet robot dragging is continuous, ensures simultaneously
The path accuracy of robot.
The beneficial effects of the invention are as follows：
The present invention is by taking Six-DOF industrial robot as an example, using the mechanical joint of Six-DOF industrial robot as coordinate
Origin calculates algorithms of different, the offset obtained using algorithm by dividing the space into different quadrants, and for different quadrants
The cylinder of the second axis and third axis is instructed to carry out the static balancing of robot, dynamic equilibrium support.In addition, control errors ensure that
Support accuracy of the robot under static and dynamic teaching environment, practical Auxiliary support is provided for teaching, reduces and shows
The difficulty of artificial mobile mechanical arm during religion, is conducive to improve teaching accuracy, ensures teaching effect.
Description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Signal input, gain K, Proportional coefficient K (), solenoid valve and the signal that Fig. 1 is the present invention export closing for composition
Ring control system.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below it is right
The present invention is expanded on further.
A kind of balanced algorithm for dragging teaching robot, including static balancing and dynamic equilibrium：
(1) static balancing：
The basic parameter of robot is determined first：Par_2 [1] is enabled as robot the second axis basic pressure value, par_2 [2]
For robot the second axis static pressure force value；Par_3 [0] is robot third axis basic pressure value, and par_3 [3] is robot the
Three axis static pressure force value；Robot.axis [2] is robot the second shaft angle angle value, and robot.axis [3] is robot third axis
Angle value.
Static pressure offset set_bal_ax2 of the second axis of robot under different poses is calculated by formula (1),
Static pressure offset set_bal_ax3 of the robot third axis under different poses is calculated by formula (2).
Set_bal_ax3=par_3 [0]+par_3 [3] * (- robot.axis [3])/90.0 (2)
When the second axis of robot and third axis are under different poses, utilization (1) formula and (2) formula can provide pressure for cylinder
Force compensating value provides accurate foundation, and equilibrium state is in so as to fulfill robot.
(2) dynamic equilibrium：
Dynamic load-balancing algorithm is exactly the robot control system point in the second axis of robot and third axis during movement
Not Gei the second axis and third axis corresponding pressure supplement is provided, according to the dynamic equilibrium of the second axis and the dynamic equilibrium of third axis
Illustrate respectively.
The dynamic equilibrium calculation of second axis：
When robot the second axis current angular is negative angle, and the second axial positive direction of dragging robot moves, using public affairs
Formula (3) carries out pressure compensation；When dragging robot the second axial direction negative direction movement, pressure compensation is carried out using formula (4).
When robot the second axis current angular is positive-angle, and the second axial positive direction of dragging robot moves, using public affairs
Formula (5) carries out pressure compensation；When dragging robot the second axial direction negative direction movement, pressure compensation is carried out using formula (6).
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：Set_bal_ax2 on the left of equation is the demand dynamic offset of the second axis of robot, on the right side of equation
Set_bal_ax2 be the second axis of robot current dynamic offset, par_2 [5] for the second axis of robot in negative angle to
The dynamic pressure value moved afterwards；Par_2 [6] is the dynamic pressure value that the second axis of robot travels forward in negative angle；par_2
[7] the dynamic pressure value to travel forward for the second axis of robot in positive-angle；Par_2 [8] is the second axis of robot in positive angle
The dynamic pressure value moved backward when spending.
The dynamic equilibrium calculation of third axis：
When robot third axial direction positive direction movement, pressure compensation is carried out using formula (7)；
When robot third axial direction negative direction movement, pressure compensation is carried out using formula (8).
Set_bar_ax3=set_bar_ax3+par_3 [1] (7)
Set_bar_ax3=set_bar_ax3-par_3 [2] (8)
In formula：Set_bal_ax3 on the left of equation is the demand dynamic offset of robot third axis, on the right side of equation
Set_bal_ax3 is the current dynamic offset of robot third axis, and par_3 [1] travels forward dynamic for robot third axis
State pressure value；Par_3 [2] is the dynamic pressure value of preceding movement after robot third axis.
Although it is very accurate that static compensation and dynamic compensation algorithm calculate, there are deviations, i.e. setting pressure in real process
The difference e of force value and practical actual pressure value.In order to reduce error, need to inhibit error.
It is inputted by signal, the closed-loop control system that the output of gain K, Proportional coefficient K (), solenoid valve and signal forms
In, by adjusting the value of parametric gain K and Proportional coefficient K (), the speed that can meet robot dragging is continuous, ensures simultaneously
The path accuracy of robot.
Basic principle, main feature and the advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these variation and
Improvement is both fallen in claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (3)
1. a kind of balanced algorithm for dragging teaching robot, it is characterised in that：Including static balancing, dynamic equilibrium and control errors
Three parts：
The algorithm of static balancing is：
Static pressure offset set_bal_ax2 of the second axis of robot under different poses can be calculated by formula (1), by
Formula (2) can calculate static pressure offset set_bal_ax3 of the robot third axis under different poses；
Set_bal_ax2=par_2 [1]+(1-cos (robot.axis [2]/180*PI)) * par_2 [2] (1)
Set_bal_ax3=par_3 [0]+par_3 [3] * (- robot.axis [3])/90.0 (2)
In formula：Par_2 [1] is robot the second axis basic pressure value, and par_2 [2] is robot the second axis static pressure force value；
Par_3 [0] is robot third axis basic pressure value, and par_3 [3] is robot third axis static pressure force value；robot.axis
[2] it is robot the second shaft angle angle value, robot.axis [3] is robot third shaft angle angle value；
The algorithm of the dynamic equilibrium is divided into the second axis algorithm of teaching robot and third axis algorithm, specially：
The dynamic equilibrium calculation of second axis：
When robot the second axis current angular is negative angle, and the second axial positive direction of dragging robot moves, using formula (3)
Carry out pressure compensation；When dragging robot the second axial direction negative direction movement, pressure compensation is carried out using formula (4)；
When robot the second axis current angular is positive-angle, and the second axial positive direction of dragging robot moves, using formula (5)
Carry out pressure compensation；When dragging robot the second axial direction negative direction movement, pressure compensation is carried out using formula (6)；
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：Set_bal_ax2 on the left of equation is the demand dynamic offset of the second axis of robot, the set_ on the right side of equation
Bal_ax2 is the current dynamic offset of the second axis of robot, and par_2 [5] is transported backward for the second axis of robot in negative angle
Dynamic basic pressure value；Par_2 [6] is the dynamic pressure value that the second axis of robot travels forward in negative angle；par_2[7]
The dynamic pressure value to travel forward for the second axis of robot in positive-angle；Par_2 [8] is the second axis of robot in positive-angle
The dynamic pressure value moved backward.
2. a kind of balanced algorithm for dragging teaching robot according to claim 1, it is characterised in that：
The dynamic load-balancing algorithm of third axis is：
When robot third axial direction positive direction movement, pressure compensation is carried out using formula (7)；
When robot third axial direction negative direction movement, pressure compensation is carried out using formula (8)；
Set_bar_ax3=set_bar_ax3+par_3 [1] (7)
Set_bar_ax3=set_bar_ax3-par_3 [2] (8)
In formula：Set_bal_ax3 on the left of equation is the demand dynamic offset of robot third axis, the set_ on the right side of equation
Bal_ax3 is the current dynamic offset of robot third axis, and par_3 [1] is the dynamic pressure that robot third axis travels forward
Force value；Par_3 [2] is the dynamic pressure value of preceding movement after robot third axis.
3. a kind of balanced algorithm of dragging teaching robot according to any one of claim 1-2, it is characterised in that：
The control errors use inputted by signal, gain K, Proportional coefficient K (), solenoid valve and signal output form close
Ring control system, by adjusting the value of parametric gain K and Proportional coefficient K (), the speed for meeting robot dragging is continuous, simultaneously
Ensure the path accuracy of robot.
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| 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 |
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2016
- 2016-06-23 CN CN201610462830.5A patent/CN105945996B/en active Active
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| 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 |
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| CN104162890A (en) * | 2014-07-04 | 2014-11-26 | 倪立新 | Step-by-step teaching robot based on motor power and control method thereof |
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