Dragging demonstration system and method
AssigneeShanghai Jaka Robotics Ltd.
InventorMingyang LI
Life of this patent
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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.
Claims20
A drag teaching system, applicable to a robot, the drag teaching system comprising:
- a model identification module configured to establish a static model of the robot and identify model parameters, wherein the static model comprises a gravity model and a Coulomb friction model;
- a feedforward compensation module configured to transmit the identified model parameters to a current loop of a motor of each joint of the robot in a feedforward manner;
- and
- a data recording module configured to record position information on each joint of the robot for enabling the robot to reproduce a taught motion.
A drag teaching method, comprising steps of:
- S1:
- establishing a static model of a 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;
- and
- S3:
- recording position information on each joint of the robot for enabling the robot to reproduce a taught motion.
The drag teaching method according to claim wherein the position information on each joint of the robot comprises:
- a position of a key point of the robot or a trace of dragging of the robot during the drag teaching.
Dependencies are inferred from the claim text.