A Direct Teaching Method of Robot by Estimating External Torque
To solve the problems of low flexibility and compliance and high cost of robot direct teaching,a direct teaching method of robot based on estimating external torque is proposed.Through the external torque observer based on generalized momentum and the admittance and PD control scheme,the direct teaching of the robot without torque sensor was realized,in which the model of gravity and joint friction is obtained by identification.Firstly,the real-time compensation of gravity and friction torque is car-ried out for the robot joint.Then,the external force observer based on generalized momentum is used to observe the external torque of the robot dragged by the operator.Finally,the admittance control is used to generate the expected motion trajectory of the joint according to the observed external torque,and the expected motion trajectory is transformed into the estimated external torque compensated to the joint through PD control,so as to realize the direct teaching of the robot.The experimental results verify the effectiveness of the method.The research results can provide guidance for the design of robot direct teaching scheme without torque sensor.
RobotDirect TeachingTorque ObserverParameter IdentificationAdmittance ControlPD Control
NETL
NSTL
万方数据
维普
