Method for compensating for friction of multi-degree-of-freedom cooperative robot
AssigneeNeuromeka
InventorsJong Hoon Park, Woong Yong Lee, Young Jin Heo, Gwan Woo Kim
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Abstract
In a method for compensating for friction of a multi-degree-of-freedom cooperative robot including a plurality of joints, the method for compensating for friction of the multi-degree-of-freedom cooperative robot, according to an embodiment of the present invention, comprises the steps of: generating a motion of a cooperative robot for friction compensation; driving the plurality of joints on the basis of the generated motion of the cooperative robot; receiving friction identification data from the cooperative robot; and calculating a friction model function from the received friction identification data.
Claims9
A method for compensating for friction of a multi-degree-of-freedom cooperative robot including a plurality of joints, the method for compensating for friction of multi-degree-of-freedom cooperative robot comprising steps of:
- generating motion of the cooperative robot for friction compensation;
- driving the plurality of joints on the basis of the generated motion of the cooperative robot;
- receiving friction identification data from the cooperative robot;
- and
- calculating a friction model function from the received friction identification data,
- wherein the step of generating motion of the cooperative robot comprises the step of generating a posture in which the effect of gravity is removed and the step of generating a motion for removing an inertial effect, and
- in the posture in which the effect of gravity is removed, rotation axes of some of the plurality of joints are parallel to the direction of gravity, and others of the plurality of joints operate in symmetrical motion to cancel the effect of gravity.
Dependencies are inferred from the claim text.