Force-free Control for the Direct Teaching of Robots
For the direct teaching of robots, a torque control based force-free control algorithm is proposed. Usually, it is difficult to calculate gravity torque and friction torque from the model directly. The relationship between joint torque and rod weight, joint positions, loads, coulomb friction, viscou...
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| Veröffentlicht in: | Ji xie gong cheng xue bao 2014-02, Vol.50 (3), p.10-17 |
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| container_title | Ji xie gong cheng xue bao |
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| creator | YOU, Youpeng |
| description | For the direct teaching of robots, a torque control based force-free control algorithm is proposed. Usually, it is difficult to calculate gravity torque and friction torque from the model directly. The relationship between joint torque and rod weight, joint positions, loads, coulomb friction, viscous friction and other factors are investigated, a gravity and friction compensation algorithm by means of robot's self-measuring is proposed. The measuring program for the compensation parameters is also given detailly. The proposed compensation algorithm is verified in a self-developed robot driven by DC motors, and the experiment results show that the torque compensation is obvious and the robot teaching is easy and flexible. Compared with existing position control based force-free control, the proposed algorithm can work without multi-axis force sensor, with simple control system-architecture and low cost. Therefore, the algorithm may open up a way for the direct teaching of those robots working with various complex trajectory. |
| doi_str_mv | 10.3901/JME.2014.03.010 |
| format | Article |
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Usually, it is difficult to calculate gravity torque and friction torque from the model directly. The relationship between joint torque and rod weight, joint positions, loads, coulomb friction, viscous friction and other factors are investigated, a gravity and friction compensation algorithm by means of robot's self-measuring is proposed. The measuring program for the compensation parameters is also given detailly. The proposed compensation algorithm is verified in a self-developed robot driven by DC motors, and the experiment results show that the torque compensation is obvious and the robot teaching is easy and flexible. Compared with existing position control based force-free control, the proposed algorithm can work without multi-axis force sensor, with simple control system-architecture and low cost. 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Usually, it is difficult to calculate gravity torque and friction torque from the model directly. The relationship between joint torque and rod weight, joint positions, loads, coulomb friction, viscous friction and other factors are investigated, a gravity and friction compensation algorithm by means of robot's self-measuring is proposed. The measuring program for the compensation parameters is also given detailly. The proposed compensation algorithm is verified in a self-developed robot driven by DC motors, and the experiment results show that the torque compensation is obvious and the robot teaching is easy and flexible. Compared with existing position control based force-free control, the proposed algorithm can work without multi-axis force sensor, with simple control system-architecture and low cost. Therefore, the algorithm may open up a way for the direct teaching of those robots working with various complex trajectory.</description><subject>Algorithms</subject><subject>Compensation</subject><subject>Control systems</subject><subject>Education</subject><subject>Friction</subject><subject>Robots</subject><subject>Teaching</subject><subject>Torque</subject><issn>0577-6686</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2014</creationdate><recordtype>article</recordtype><recordid>eNot0D1PwzAUhWEPIFEKM6tHlqT3xontjCi0fKgICZXZSpxrGpTWxXYH_j2pynSWV2d4GLtDyEUNuHh9W-YFYJmDyAHhgs2gUiqTUssrdh3jN4CoVYEzVq58sJS5QMQbv0_Bj9z5wNOW-OMQyCa-odZuh_0X945_-M6neMMuXTtGuv3fOftcLTfNc7Z-f3ppHtaZRV2nrCZH2Dmkrqyk0IXWHUone3B9XdYWNFBVYUsgsMeiQ5S6qFyvRK-VJklizu7Pv4fgf44Uk9kN0dI4tnvyx2hQKiwrJaWc0sU5tcHHGMiZQxh2bfg1COZkYiYTczIxIMxkIv4A6l9Upw</recordid><startdate>20140205</startdate><enddate>20140205</enddate><creator>YOU, Youpeng</creator><scope>AAYXX</scope><scope>CITATION</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>L7M</scope></search><sort><creationdate>20140205</creationdate><title>Force-free Control for the Direct Teaching of Robots</title><author>YOU, Youpeng</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c189t-9efe1bf1eb45638288b16f6d0fd949c080e551ae031d12b116825fd73d878e6e3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>chi</language><creationdate>2014</creationdate><topic>Algorithms</topic><topic>Compensation</topic><topic>Control systems</topic><topic>Education</topic><topic>Friction</topic><topic>Robots</topic><topic>Teaching</topic><topic>Torque</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>YOU, Youpeng</creatorcontrib><collection>CrossRef</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>Advanced Technologies Database with Aerospace</collection><jtitle>Ji xie gong cheng xue bao</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>YOU, Youpeng</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Force-free Control for the Direct Teaching of Robots</atitle><jtitle>Ji xie gong cheng xue bao</jtitle><date>2014-02-05</date><risdate>2014</risdate><volume>50</volume><issue>3</issue><spage>10</spage><epage>17</epage><pages>10-17</pages><issn>0577-6686</issn><abstract>For the direct teaching of robots, a torque control based force-free control algorithm is proposed. Usually, it is difficult to calculate gravity torque and friction torque from the model directly. The relationship between joint torque and rod weight, joint positions, loads, coulomb friction, viscous friction and other factors are investigated, a gravity and friction compensation algorithm by means of robot's self-measuring is proposed. The measuring program for the compensation parameters is also given detailly. The proposed compensation algorithm is verified in a self-developed robot driven by DC motors, and the experiment results show that the torque compensation is obvious and the robot teaching is easy and flexible. Compared with existing position control based force-free control, the proposed algorithm can work without multi-axis force sensor, with simple control system-architecture and low cost. Therefore, the algorithm may open up a way for the direct teaching of those robots working with various complex trajectory.</abstract><doi>10.3901/JME.2014.03.010</doi><tpages>8</tpages></addata></record> |
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| ispartof | Ji xie gong cheng xue bao, 2014-02, Vol.50 (3), p.10-17 |
| issn | 0577-6686 |
| language | chi |
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| source | Alma/SFX Local Collection |
| subjects | Algorithms Compensation Control systems Education Friction Robots Teaching Torque |
| title | Force-free Control for the Direct Teaching of Robots |
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