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1. (WO2018205490) METHOD AND DEVICE FOR CONTROLLING ROBOT TO ROTATE JOINT TO PERFORM MOVEMENT, AND ROBOT

Pub. No.:    WO/2018/205490    International Application No.:    PCT/CN2017/104663
Publication Date: Fri Nov 16 00:59:59 CET 2018 International Filing Date: Sat Sep 30 01:59:59 CEST 2017
IPC: B25J 9/16
G05B 19/00
Applicants: GUANGZHOU SHIYUAN ELECTRONICS CO., LTD.
广州视源电子科技股份有限公司
Inventors: CAO, Yong
曹永
Title: METHOD AND DEVICE FOR CONTROLLING ROBOT TO ROTATE JOINT TO PERFORM MOVEMENT, AND ROBOT
Abstract:
A method for controlling a robot to rotate a joint, comprising: receiving a trajectory parameter set for controlling a robot to rotate a joint to perform trajectory motion; for each uniform-motion speed, controlling the robot to rotate the joint to perform trajectory motion corresponding to the uniform-motion speed, and reading, in a uniform-motion phase of the trajectory motion, driving torque of a driving motor of the robot as measured friction torque; constructing a dynamic friction model according to each uniform-motion speed and the measured friction torque corresponding to the uniform-motion speed; and when a request to control operation of the robot is received, correcting, according to the dynamic friction model, driving torque generated according to the request, so as to rotate, according to the corrected driving torque, the joint so as to perform a movement. The method of the invention can reduce the error of a robot in identifying friction force, improving accuracy of controlling the robot to rotate a joint. A device for controlling a robot to rotate a joint and a robot are also provided.