CN108582069A - Robot drags teaching system and method, storage medium, operating system - Google Patents
Robot drags teaching system and method, storage medium, operating system Download PDFInfo
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- CN108582069A CN108582069A CN201810340586.4A CN201810340586A CN108582069A CN 108582069 A CN108582069 A CN 108582069A CN 201810340586 A CN201810340586 A CN 201810340586A CN 108582069 A CN108582069 A CN 108582069A
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
-
- 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
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of robot dragging teaching system and method, storage medium, operating systems, wherein robot drags teaching system and includes：Dynamics module carries out Dynamic Modeling and System Discrimination to robot, solves kinetics equation according to the characteristic of robot；Feedback of status module, position data, speed data and torque data for obtaining each joint of robot；External force estimation module, for according to robot dynamics' equation, the position data in each joint of robot, speed data and torque data, obtaining the torque estimated value for being applied to each joint of robot；Admittance control module realizes the control of closed loop power and dragging teaching according to torque estimated value.The present invention is based on electric current loops to feed back realization dragging teaching, is not required to additionally increase torque sensor, can drop effective low robot architecture's complexity and cost, teaching efficiency is high.
Description
Technical field
The present invention relates to industrial robot control technology fields, and in particular to a kind of robot dragging teaching system and side
Method, storage medium, operating system.
Background technology
Robot drags teaching, i.e., operator can drag each joint motions of robot to ideal position, and record preservation
The location information.Dragging teaching can be to avoid the defect of traditional teaching technology.
Currently, the teaching work of robot has relied on the completion of operation teaching machine mostly.This teaching mode
Process is complicated, inefficiency, and has certain technical threshold, needs operator to grasp robot and uses technical ability.
It is found through retrieval, the Chinese patent literature of Publication No. CN107097233A discloses a kind of non-moment sensor
Industrial robot drags teaching method, and this method under position control mode, can realize the dragging teaching of robot, but this method
It has the following disadvantages：Controller parameter setting is complicated；The control of closed loop power is cannot achieve, the compliance of human-computer interaction is poor；It can not
Adapt to the variation of load.
Invention content
The purpose of the present invention is to provide a kind of robot dragging teaching system and method, storage medium, operating system, bases
In electric current loop feed back realize dragging teaching, be not required to additionally increase torque sensor, can drop effectively low robot architecture's complexity with
Cost, teaching efficiency are high.
In order to achieve the above object, the invention is realized by the following technical scheme：A kind of robot dragging teaching system, is fitted
For robot, the robot includes several joints, and a motor is arranged in each joint position, its main feature is that, the teaching system
System includes：
Dynamics module carries out Dynamic Modeling and System Discrimination to robot, solves power according to the characteristic of robot
Learn equation；
Feedback of status module, position data, speed data and torque data for obtaining each joint of robot；
External force estimation module, for position data, the speed data according to robot dynamics' equation, each joint of robot
With torque data, the torque estimated value for being applied to each joint of robot is obtained；
Admittance control module realizes the control of closed loop power and dragging teaching according to torque estimated value.
In said program, protection module is further included, the protection module is used for the joint position of monitoring robot, closes
Speed and joint moment are saved, if being more than given threshold, exports robot stop motion instruction.
In said program, in artificial four shaft industrial robot of the machine, six-shaft industrial robot and cooperation robot
It is a kind of.
In said program, the dynamics module includes：
It is dynamic with joint to obtain connecting rods power equation using Lagrangian method according to the characteristic of robot for modeling unit
Mechanical equation；
Identification unit recognizes link parameters according to connecting rods power equation using CAD methods；According to joint power side
Journey recognizes joint feature parameter using track motivational techniques；
Computing unit solves kinetics equation according to link parameters and joint feature parameter using parsing-symbolic method.
In said program, the feedback of status module includes：
Position acquisition unit obtains joint position according to the absolute type encoder of motor tail portion；
Joint position is carried out difference and obtains joint velocity by speed acquiring unit；
Torque acquiring unit calculates current of electric and obtains joint moment.
In said program, the external force estimation module includes：
Computing unit is loaded, load characteristic is determined using CAD methods；
Torque estimation unit obtains the torque estimated value for being applied to each joint of robot using Kalman filter；
Threshold setting unit, the identification range for setting external force.
In said program, the admittance control module includes：
Mode setting unit, the pattern for motor driver to be arranged；
Calculating Torque during Rotary unit, according to the target moment values in each joint of admittance control law calculating robot；
Torque limiting unit, for limiting target moment values within a preset range；
Torque output unit for target moment values to be sent to each joint motor, and makes motor generate the target set
Moment values.
In said program, the protection module includes：
Position monitoring unit is used for the joint position of monitoring robot, and distribution of machine people stops if more than the threshold value of setting
Only movement instruction；
Speed monitoring unit is used for the joint velocity of monitoring robot, and distribution of machine people stops if more than the threshold value of setting
Only movement instruction；
Torque monitoring unit is used for the joint moment of monitoring robot, and distribution of machine people stops if more than the threshold value of setting
Only movement instruction.
The embodiment of the present invention additionally provides a kind of robot dragging teaching method, its main feature is that, it comprises the steps of：
Step S1, according to the characteristic of robot, Dynamic Modeling and System Discrimination is carried out to robot, solve dynamics side
Journey；
Step S2, position data, speed data and the torque data in each joint of robot are obtained；
Step S3, according to robot dynamics' equation, the position data in each joint of robot, speed data and torque number
According to acquisition is applied to the torque estimated value in each joint of robot；
Step S4, the control of closed loop power and dragging teaching are realized according to torque estimated value.
In said program, also include comprising step a S5, the step S5 after the step S4：
Joint position, joint velocity and the joint moment of monitoring robot export robot and stop if being more than given threshold
Only movement instruction.
In said program, the step S1 includes：
Connecting rods power equation and joint power equation are obtained using Lagrangian method according to the characteristic of robot；
According to connecting rods power equation, link parameters are recognized using CAD methods；
According to joint power equation, joint feature parameter is recognized using track motivational techniques；
According to link parameters and joint feature parameter, kinetics equation is solved using parsing-symbolic method.
In said program, the step S2 includes：
Joint position is obtained according to the absolute type encoder of motor tail portion；
Joint position is subjected to difference and obtains joint velocity；
It calculates current of electric and obtains joint moment.
In said program, the step S3 includes：
Load characteristic is determined using CAD methods；
The torque estimated value for being applied to each joint of robot is obtained using Kalman filter.
In said program, the step S4 includes：
It is torque/current-mode by the mode setting of motor driver；
According to the target moment values in each joint of admittance control law calculating robot；
Target moment values are sent to each joint motor, and motor is made to generate the target moment values set.
The embodiment of the present invention additionally provides a kind of storage medium, is stored thereon with computer program, the computer program quilt
Processor realizes above-mentioned method when executing.
The embodiment of the present invention additionally provides a kind of operating system, including memory, processor and storage are on a memory simultaneously
The computer program that can be run on a processor, the processor realize preceding claim when executing the computer program
Method.
A kind of robot dragging teaching system of the present invention and method, storage medium, operating system have compared with prior art
It has the advantage that：
Controller parameter setting is easy；
Dragging teaching based on closed loop power control can mitigate the fluctuation at robot motion's initial stage, promote feel when user's dragging
Experience, this mode are relatively low to robot modeling and System Identification Accuracy requirement, realize and are easy；
Estimated accuracy to external force can be improved using Kalman filter；
When robot end loads change, it need to only pass through CAD methods and export quality and barycenter parameter, you can make robot certainly
Dynamic compensation load weight, is conducive to promote user experience.
Description of the drawings
Fig. 1 is the structural schematic diagram of robot dragging teaching system according to an embodiment of the invention；
Fig. 2 is the flow chart of robot dragging teaching method according to an embodiment of the invention；
Fig. 3 is a kind of hardware architecture diagram of the operating system of the embodiment of the present invention.
Specific implementation mode
Embodying the embodiment of feature of present invention and advantage will in detail describe in the explanation of back segment.It should be understood that the present invention
Can have various variations in different examples, neither depart from the scope of the present invention, and it is therein explanation and be shown in
Substantially regard purposes of discussion, rather than to limit the present invention.
An embodiment of the present invention provides a kind of robots to drag teaching system.Fig. 1 is machine according to an embodiment of the invention
Device people drags the structural schematic diagram of teaching system, as shown in Figure 1, the robot drags teaching system, is suitable for robot 10, institute
It includes several joints to state robot 10, and a motor is arranged in each joint position, which includes：Dynamics module 100,
According to the characteristic of robot, Dynamic Modeling and System Discrimination are carried out to robot, solve kinetics equation；Feedback of status module
200, position data, speed data and torque data for obtaining each joint of robot；External force estimation module 300 is used for root
According to robot dynamics' equation, the position data in each joint of robot, speed data and torque data, acquisition is applied to robot
The torque estimated value in each joint；Admittance control module 400 realizes the control of closed loop power and dragging teaching according to torque estimated value.
In some embodiments of the invention, it is preferable that it includes protection module 500, institute that robot, which drags teaching system also,
Joint position, joint velocity and joint moment of the protection module 500 for monitoring robot are stated, it is defeated if being more than given threshold
Go out robot stop motion instruction.
In embodiments of the present invention, as an example, the robot 10 is four shaft industrial robots, six-shaft industrial machine
Device people and cooperation robot in one kind.
In embodiments of the present invention, as an implementation, the dynamics module 100 includes：Modeling unit 101,
Connecting rods power equation and joint power equation are obtained using Lagrangian method according to the characteristic of robot；Identification unit
102, according to connecting rods power equation, link parameters are recognized using CAD methods；According to joint power equation, swashed using track
Encourage method identification joint feature parameter；Computing unit 103, according to link parameters and joint feature parameter, using parsing-symbolic method
Solve kinetics equation.
In embodiments of the present invention, as one embodiment, parsing-symbolic method can effectively improve model computational efficiency.
In embodiments of the present invention, as an implementation, the feedback of status module 200 includes：Position acquisition list
Member 201 obtains joint position according to the absolute type encoder of motor tail portion；Speed acquiring unit 202, it is poor that joint position is carried out
It separately wins and takes joint velocity；Torque acquiring unit 203 calculates current of electric and obtains joint moment.
In embodiments of the present invention, as an implementation, the external force estimation module 300 includes：Load calculates single
Member 301, load characteristic is determined using CAD methods；Torque estimation unit 302 is applied to machine using Kalman filter acquisition
The torque estimated value in each joint of people；Threshold setting unit 303, the identification range for setting external force.
In embodiments of the present invention, as a kind of specific example, load computing unit 301 passes through software emulation and finite element
Analysis determines quality, barycenter and the inertial tensor matrix of load.
In embodiments of the present invention, as a kind of specific example, Kalman filter is in sensor feedback value and based on dynamic
Optimal weights coefficient is determined between the estimated value of mechanics, to obtain optimal torque estimated value.
In embodiments of the present invention, as a kind of specific example, threshold setting unit 303, which can be reduced effectively, estimates torque
Error rate.
In embodiments of the present invention, as an implementation, the admittance control module 400 includes：Pattern setting is single
Member 401, the pattern for motor driver to be arranged；Calculating Torque during Rotary unit 402, according to each joint of admittance control law calculating robot
Target moment values；Torque limiting unit 403, for limiting target moment values within a preset range；Torque output unit
404, for target moment values to be sent to each joint motor, and motor is made to generate the target moment values set.
In embodiments of the present invention, as an implementation, the protection module 500 includes：Position monitoring unit
501, it is used for the joint position of monitoring robot, distribution of machine people's stop motion instruction if more than the threshold value of setting；Speed is supervised
Unit 502 is surveyed, the joint velocity of monitoring robot is used for, distribution of machine people's stop motion instruction if more than the threshold value of setting；
Torque monitoring unit 503 is used for the joint moment of monitoring robot, distribution of machine people's stop motion if more than the threshold value of setting
Instruction.
The robot dragging teaching system combination electric current loop feedback and Kalman filter of the embodiment of the present invention, can predict
User is applied to the torque in each joint of robot, and realizes the dragging teaching based on closed loop power control by admittance control.
The embodiment of the present invention also provides a kind of robot dragging teaching method, and the robot suitable for above-described embodiment drags
Dynamic teaching system.Fig. 2 is the flow chart of robot dragging teaching method according to an embodiment of the invention, as shown in Fig. 2,
This method includes：
Step S1, according to the characteristic of robot, Dynamic Modeling and System Discrimination is carried out to robot, solve dynamics side
Journey.
Specifically, including according to the characteristic of robot, using Lagrangian method, connecting rods power equation and joint are obtained
Kinetics equation；According to connecting rods power equation, link parameters are recognized using CAD methods；According to joint power equation, use
Track motivational techniques recognize joint feature parameter；According to link parameters and joint feature parameter, solved using parsing-symbolic method dynamic
Mechanical equation.
Wherein, connecting rods power equation is expressed as：
Joint power equation is expressed as：
In formula, τ, T hereh∈RnIndicate joint moment and user's torque, M (q) ∈Rn×nIt is inertia force matrix,Represent centrifugal force and the relevant matrix of Coriolis force, G (q) ∈ RnIt is gravitational moment matrix, τm∈RnIndicate joint
Motor torque, τ ∈ RnIndicate motor load torque, τf∈RnIndicate actuator friction torque, Jm=diag { Jm1,Jm2,...,
JmnIndicate actuator inertia, Bm=diag { Bm1,Bm2,...,BmnThe actuator coefficient of viscosity.
Step S2, position data, speed data and the torque data in each joint of robot are obtained.
Specifically, joint position is obtained according to the absolute type encoder of motor tail portion；Joint position is subjected to difference acquisition
Joint velocity；It calculates current of electric and obtains joint moment.
Step S3, according to robot dynamics' equation, the position data in each joint of robot, speed data and torque number
According to acquisition is applied to the torque estimated value in each joint of robot.
Specifically, load characteristic is determined using CAD methods；Each joint of robot is applied to using Kalman filter acquisition
Torque estimated value.
Wherein, Kalman filter is expressed as：
In formula,Represent system momentum state vector, In∈Rn×nIt is unit matrix, wp,wτ, v, which is represented, to be rushed
The process noise matrix of amount, the process noise matrix and state observation noise matrix of active torque；Y is sensor observation vector；
AτFor the relevant state matrix of user's torque.
Step S4, the control of closed loop power and dragging teaching are realized according to torque estimated value.
Specifically, it is torque/current-mode by the mode setting of motor driver；According to admittance control law calculating robot
The target moment values in each joint；Target moment values are sent to each joint motor, and motor is made to generate the target moment values set,
Hereafter, user can drag robot to ideal position, complete teaching work in any position of robot body.
Wherein, admittance control law is expressed as：
Δ X=qd-q
M in formulad,Bd,KdRepresent desired inertial tensor matrix, coefficient of viscosity matrix and stiffness coefficient matrix；q,qdFor
The practical joint angles vector sum ideal joint angles vector of each axis of robot.
Step S5, the joint position of monitoring robot, joint velocity and joint moment export if being more than given threshold
Robot stop motion instruction.
Specifically, when more than given threshold, servo under driver, robot stop motion is made to ensure user's peace immediately
Entirely.
The embodiment of the present invention additionally provides a kind of operating system.Fig. 3 is that one kind of the operating system of the embodiment of the present invention is hard
Part structural schematic diagram.As shown in figure 3, operating system 30 includes：It command receiver 31, memory 32, processor 33 and is stored in
On memory 32 and the computer program that can run on processor 33, the various components in system can be coupling in by bus 34
Together.It is understood that bus 34 is for realizing the connection communication between these components.Bus 34 remove comprising data/address bus it
Outside, also include power bus, controlling bus and status signal bus in addition etc..It, in figure 3 will be various but for the sake of clear explanation
Bus all tables are bus 34.
It is understood that memory 32 can be volatibility or nonvolatile memory, can also include volatibility and
Both nonvolatile memories.Wherein, it can be read-only memory (ROM, Read Only that nonvolatile memory, which is seen,
Memory), programmable read only memory (PROM, Programmable Read-Only Memory), erasable programmable are read-only
Memory (EPROM, Erasable Programmable Read-Only Memory), electrically erasable programmable read-only memory
(EEPROM, Electrically Erasable Programmable Read-Only Memory), magnetic random access store
Device (FRAM, ferromagnetic random access memory), flash memory (flash EPROM), magnetic surface are deposited
Reservoir, CD or CD-ROM (CD-ROM, Compact Disc Read-Only Memory)；Magnetic surface storage can be
Magnetic disk storage or magnetic tape storage.Volatile memory can be random access memory (RAM, Random Access
Memory), it is used as External Cache.By exemplary but be not restricted explanation, the RAM of many forms is available, such as
Static RAM (SRAM, Static Random Access Memory), synchronous static RAM
(SSRAM, Synchronous Static Random Access Memory), dynamic random access memory (DRAM,
Dynamic Random Access Memory), synchronous DRAM (SDRAM, Synchronous Dynamic
Random Access Memory), double data speed synchronous dynamic RAM (DDR SDRAM, Double
Data Rate SynchronousDynamic Random Access Memory), enhanced synchronous dynamic random-access storage
Device (ESDRAM, Enhanced Synchronous Dynamic Random Access Memory), synchronized links dynamic random
Access memory (SLDRAM, Sync Link Dynamic Random Access Memory).Description of the embodiment of the present invention
Memory 151 is intended to the memory including but not limited to these and any other suitable type.
Processor 33 may be a kind of IC chip, the processing capacity with signal.During realization, above-mentioned side
Each step of method can be completed by the integrated logic circuit of the hardware of processor 33 or the instruction of software form.Above-mentioned place
Reason device 33 can be general processor, DSP either other programmable logic device, discrete gate or transistor logic, point
Vertical hardware component etc..Processor 33 may be implemented or execute disclosed each method, step and logic in the embodiment of the present invention
Block diagram.General processor can be microprocessor or any conventional processor etc..Side in conjunction with disclosed in the embodiment of the present invention
The step of method, can be embodied directly in hardware decoding processor and execute completion, or with the hardware and software in decoding processor
Block combiner executes completion.Software module can be located in storage medium, which is located at memory 32, and processor 33 is read
Information in access to memory 32, in conjunction with the step of its hardware completion preceding method.
In the present embodiment, the processor 33 is realized when executing described program：According to the characteristic of robot, to robot into
Action mechanical modeling and System Discrimination solve kinetics equation；Obtain position data, speed data and the power in each joint of robot
Square data；According to robot dynamics' equation, the position data in each joint of robot, speed data and torque data, applied
It is added in the torque estimated value in each joint of robot；The control of closed loop power and dragging teaching are realized according to torque estimated value.
As an implementation, it is further realized when the processor 33 executes described program：The pass of monitoring robot
Section is set, joint velocity and joint moment export robot stop motion instruction if being more than given threshold.
As an implementation, it is further realized when the processor 33 executes described program：According to the spy of robot
Property, using Lagrangian method, obtain connecting rods power equation and joint power equation；According to connecting rods power equation, adopt
Link parameters are recognized with CAD methods；According to joint power equation, joint feature parameter is recognized using track motivational techniques；Root
According to link parameters and joint feature parameter, kinetics equation is solved using parsing-symbolic method.
As an implementation, it is further realized when the processor 33 executes described program：According to motor tail portion
Absolute type encoder obtains joint position；Joint position is subjected to difference and obtains joint velocity；It calculates current of electric and obtains joint
Torque.
As an implementation, it is further realized when the processor 33 executes described program：It is determined using CAD methods
Load characteristic；The torque estimated value for being applied to each joint of robot is obtained using Kalman filter.
As an implementation, it is further realized when the processor 33 executes described program：By motor driver
Mode setting is torque/current-mode；According to the target moment values in each joint of admittance control law calculating robot；By target torque
Value is sent to each joint motor, and motor is made to generate the target moment values set.
The embodiment of the present invention also provides a kind of computer storage media, is stored thereon with computer program, the computer journey
It is realized when sequence is executed by processor：According to the characteristic of robot, Dynamic Modeling and System Discrimination are carried out to robot, solved dynamic
Mechanical equation；Obtain position data, speed data and the torque data in each joint of robot；According to robot dynamics' equation,
Position data, speed data and the torque data in each joint of robot obtain the torque estimated value for being applied to each joint of robot；
The control of closed loop power and dragging teaching are realized according to torque estimated value.
As an implementation, it is further realized when which is executed by processor：The pass of monitoring robot
Section is set, joint velocity and joint moment export robot stop motion instruction if being more than given threshold.
As an implementation, it is further realized when which is executed by processor：According to the spy of robot
Property, using Lagrangian method, obtain connecting rods power equation and joint power equation；According to connecting rods power equation, adopt
Link parameters are recognized with CAD methods；According to joint power equation, joint feature parameter is recognized using track motivational techniques；Root
According to link parameters and joint feature parameter, kinetics equation is solved using parsing-symbolic method.
As an implementation, it is further realized when which is executed by processor：According to motor tail portion
Absolute type encoder obtains joint position；Joint position is subjected to difference and obtains joint velocity；It calculates current of electric and obtains joint
Torque.
As an implementation, it is further realized when which is executed by processor：It is determined using CAD methods
Load characteristic；The torque estimated value for being applied to each joint of robot is obtained using Kalman filter.
As an implementation, it is further realized when which is executed by processor：By motor driver
Mode setting is torque/current-mode；According to the target moment values in each joint of admittance control law calculating robot；By target torque
Value is sent to each joint motor, and motor is made to generate the target moment values set.
It should be noted that in this specification, the terms "include", "comprise" or its any other variant are intended to non-
It is exclusive to include, so that process, method, article or equipment including a series of elements include not only those elements,
But also include the element limited by sentence "including a ..." in the case of not limiting clearly, it is not excluded that including
There is also other identical elements in the process of the element, method, article or equipment.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (system of such as computer based system including processor or other can be held from instruction
The system that the extraction of row system, device or equipment is instructed and executed instruction) it uses, or combine these instruction execution systems, device
Or equipment and use.For the purpose of this specification, " computer-readable medium " can any be included, store, communicating, propagating or passing
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium includes following：Electricity with one or more wiring
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can optical scanner for example be carried out by paper or other media, then into edlin, interpretation or when necessary with other
Suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the present invention can be realized with hardware, software, firmware or combination thereof.Above-mentioned
In embodiment, software that multiple steps or method can in memory and by suitable instruction execution system be executed with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of row technology or combination thereof are realized；With the logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit application-specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA).
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, specific features structure, material or the feature of description can be in office
It can be combined in any suitable manner in one or more embodiments or example.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although present disclosure is discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read the above, for the present invention's
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (16)
1. a kind of robot drags teaching system, it is suitable for robot, the robot includes several joints, each joint position
Install a motor, which is characterized in that the dragging teaching system includes：
Dynamics module carries out Dynamic Modeling and System Discrimination to robot, solves dynamics side according to the characteristic of robot
Journey；
Feedback of status module, position data, speed data and torque data for obtaining each joint of robot；
External force estimation module, for position data, speed data and the power according to robot dynamics' equation, each joint of robot
Square data obtain the torque estimated value for being applied to each joint of robot；
Admittance control module realizes the control of closed loop power and dragging teaching according to torque estimated value.
2. robot according to claim 1 drags teaching system, which is characterized in that further include protection module, institute
Joint position, joint velocity and joint moment of the protection module for monitoring robot are stated, if being more than given threshold, exports machine
Device people's stop motion instructs.
3. robot according to claim 1 drags teaching system, which is characterized in that the artificial four axis industrial machine of machine
One kind in device people, six-shaft industrial robot and cooperation robot.
4. robot according to claim 1 drags teaching system, which is characterized in that the dynamics module includes：
Modeling unit obtains connecting rods power equation and joint power according to the characteristic of robot using Lagrangian method
Equation；
Identification unit recognizes link parameters according to connecting rods power equation using CAD methods；According to joint power equation, adopt
Joint feature parameter is recognized with track motivational techniques；
Computing unit solves kinetics equation according to link parameters and joint feature parameter using parsing-symbolic method.
5. robot according to claim 1 drags teaching system, which is characterized in that the feedback of status module includes：
Position acquisition unit obtains joint position according to the absolute type encoder of motor tail portion；
Joint position is carried out difference and obtains joint velocity by speed acquiring unit；
Torque acquiring unit calculates current of electric and obtains joint moment.
6. robot according to claim 1 drags teaching system, which is characterized in that the external force estimation module includes：
Computing unit is loaded, load characteristic is determined using CAD methods；
Torque estimation unit obtains the torque estimated value for being applied to each joint of robot using Kalman filter；
Threshold setting unit, the identification range for setting external force.
7. robot according to claim 1 drags teaching system, which is characterized in that the admittance control module includes：
Mode setting unit, the pattern for motor driver to be arranged；
Calculating Torque during Rotary unit, according to the target moment values in each joint of admittance control law calculating robot；
Torque limiting unit, for limiting target moment values within a preset range；
Torque output unit for target moment values to be sent to each joint motor, and makes motor generate the target torque set
Value.
8. robot according to claim 2 drags teaching system, which is characterized in that the protection module includes：
Position monitoring unit is used for the joint position of monitoring robot, and distribution of machine people stops fortune if more than the threshold value of setting
Dynamic instruction；
Speed monitoring unit is used for the joint velocity of monitoring robot, and distribution of machine people stops fortune if more than the threshold value of setting
Dynamic instruction；
Torque monitoring unit is used for the joint moment of monitoring robot, and distribution of machine people stops fortune if more than the threshold value of setting
Dynamic instruction.
9. a kind of robot drags teaching method, which is characterized in that comprise the steps of：
Step S1, according to the characteristic of robot, Dynamic Modeling and System Discrimination is carried out to robot, solve kinetics equation；
Step S2, position data, speed data and the torque data in each joint of robot are obtained；
Step S3, it according to robot dynamics' equation, the position data in each joint of robot, speed data and torque data, obtains
The torque estimated value in each joint of robot must be applied to；
Step S4, the control of closed loop power and dragging teaching are realized according to torque estimated value.
10. robot according to claim 9 drags teaching method, which is characterized in that also include after the step S4
One step S5, the step S5 include：
Joint position, joint velocity and the joint moment of monitoring robot export robot and stop fortune if being more than given threshold
Dynamic instruction.
11. robot according to claim 9 drags teaching method, which is characterized in that the step S1 includes：
Connecting rods power equation and joint power equation are obtained using Lagrangian method according to the characteristic of robot；
According to connecting rods power equation, link parameters are recognized using CAD methods；
According to joint power equation, joint feature parameter is recognized using track motivational techniques；
According to link parameters and joint feature parameter, kinetics equation is solved using parsing-symbolic method.
12. robot according to claim 9 drags teaching method, which is characterized in that the step S2 includes：
Joint position is obtained according to the absolute type encoder of motor tail portion；
Joint position is subjected to difference and obtains joint velocity；
It calculates current of electric and obtains joint moment.
13. robot according to claim 9 drags teaching method, which is characterized in that the step S3 includes：
Load characteristic is determined using CAD methods；
The torque estimated value for being applied to each joint of robot is obtained using Kalman filter.
14. robot according to claim 9 drags teaching method, which is characterized in that the step S4 includes：
It is torque/current-mode by the mode setting of motor driver；
According to the target moment values in each joint of admittance control law calculating robot；
Target moment values are sent to each joint motor, and motor is made to generate the target moment values set.
15. a kind of storage medium, is stored thereon with computer program, which is characterized in that the computer program is executed by processor
Method described in any one of Shi Shixian claims 9~14.
16. a kind of operating system, including memory, processor and storage are on a memory and the calculating that can run on a processor
Machine program, which is characterized in that the processor is realized when executing the computer program described in any one of claim 9~14
Method.
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| CN109676607A (en) * | 2018-12-30 | 2019-04-26 | 江苏集萃智能制造技术研究所有限公司 | A kind of zero-g control method of non-moment sensing |
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