Dragging demonstration system and method
AssigneeJaka Robotics Co., Ltd.
InventorMingyang Li
Life of this patent
Estimating the term…
Abstract
A dragging demonstration system and method. The dragging demonstration system comprises: a model identification module configured to build a static model of a robot and identify model parameters, wherein the static model comprises a gravity model and a Coulomb friction model; a feedforward compensation module configured to convey the identified model parameters to a current ring of each joint motor of the robot in a feedforward way according to the identified model parameters; and a data recording module configured to record the position information of each joint of the robot so that the robot can repeat the demonstration action. The system and method can make a user push the robot quite easily to implement dragging demonstration.
Claims6
A drag teaching method for teaching a robot with complex movement trajectories, comprising steps of:
- S1:
- establishing a static model of the robot and identifying model parameters, wherein the static model comprises a gravity model and a Coulomb friction model;
- S2:
- transmitting the identified model parameters to a current loop of a motor of each joint of the robot in a feedforward manner;
- wherein a velocity fed back from each joint of the robot is filtered by a filter with a preset cutoff frequency to reduce a noise signal in the velocity signal;
- a square wave signal with a certain threshold value and a certain frequency is superposed to the feedforward signal to overcome a static friction force at start of a drag teaching function, wherein the threshold value is set to be related to a magnitude of the static friction force, and the frequency is set to be related to a startup effect;
- and after the robot starts moving, the square wave signal is rapidly attenuated to zero;
- and
- S3:
- recording position information on each joint of the robot after verification of the identified model parameter to enable operation of the robot to reproduce a taught motion without using multi-dimensional force sensor.
Dependencies are inferred from the claim text.