CN115884851A - 一种示教器、机器人、控制机器人的方法和装置 - Google Patents

一种示教器、机器人、控制机器人的方法和装置 Download PDF

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Publication number
CN115884851A
CN115884851A CN202080102242.5A CN202080102242A CN115884851A CN 115884851 A CN115884851 A CN 115884851A CN 202080102242 A CN202080102242 A CN 202080102242A CN 115884851 A CN115884851 A CN 115884851A
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China
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robot
handle
force
torque
contact
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CN202080102242.5A
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贺银增
高腾飞
陈颀潇
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Siemens Ltd China
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Siemens Ltd China
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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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种控制机器人的方法，包括：采集用户基于手柄输入的机器人的空间信息(101)；基于空间信息确定用于控制机器人运动的运动控制命令(102)；获取在机器人执行运动控制命令的过程中所采集的、机器人的末端执行器与加工物之间的接触力和/或接触力矩(103)；基于接触力和/或接触力矩对手柄施加回复力和/或回复力矩(104)。该方法可以利用手柄方便地控制机器人，还可以施加针对手柄的回复力与回复力矩。还涉及示教器、机器人、控制机器人的装置。

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PCT国内申请，说明书已公开。

Claims (18)

  1. PCT国内申请，权利要求书已公开。
CN202080102242.5A 2020-06-30 2020-06-30 一种示教器、机器人、控制机器人的方法和装置 Pending CN115884851A (zh)

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PCT/CN2020/099342 WO2022000283A1 (zh) 2020-06-30 2020-06-30 一种示教器、机器人、控制机器人的方法和装置

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CN115884851A true CN115884851A (zh) 2023-03-31

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106625653A (zh) * 2016-05-23 2017-05-10 北京卫星环境工程研究所 基于力反馈的工业机器人辅助装配柔性对接方法
CN106938470A (zh) * 2017-03-22 2017-07-11 华中科技大学 一种机器人力控示教模仿学习的装置及方法
CN108436913A (zh) * 2018-04-19 2018-08-24 南京航空航天大学 一种力协调的多臂机器人柔顺控制方法
US20180361576A1 (en) * 2017-06-15 2018-12-20 Fanuc Corporation Learning device, controller, and control system
JP2019055458A (ja) * 2017-09-21 2019-04-11 株式会社デンソーウェーブ ロボットの教示システム

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106625653A (zh) * 2016-05-23 2017-05-10 北京卫星环境工程研究所 基于力反馈的工业机器人辅助装配柔性对接方法
CN106938470A (zh) * 2017-03-22 2017-07-11 华中科技大学 一种机器人力控示教模仿学习的装置及方法
US20180361576A1 (en) * 2017-06-15 2018-12-20 Fanuc Corporation Learning device, controller, and control system
JP2019055458A (ja) * 2017-09-21 2019-04-11 株式会社デンソーウェーブ ロボットの教示システム
CN108436913A (zh) * 2018-04-19 2018-08-24 南京航空航天大学 一种力协调的多臂机器人柔顺控制方法

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