A Phased Optimization Method for Robot Dragging Teaching without Torque Sensors

摘要

Aiming at the requirements of the robot dragging teaching in practical application, the dragging process is divided and the corresponding dragging control strategy is adopted, so as to improve the flexibility of the robot dragging. On the basis of the known robot dynamics model, the disturbance observer based on generalized momentum is used to estimate the external force of the robot, and the admittance control algorithm is adopt to realize the dragging following the external force. In order to further improve the performance of the dragging teaching, the whole dragging process is divided into static state, traction state and braking state, and the corresponding control strategy is proposed to optimize the starting stage and braking stage in the dragging process. Experimental results show that: increasing torque compensation can effectively reduce the starting time of robot joints, and the starting time can be reduced by 40.22% ~ 51.31% compared without torque compensation; the introduction of variable stiffness parameters in the braking stage can effectively reduce the braking time of robot joints, and the braking time can be reduced by 77.65% ~ 83.97% compared with no braking scheme.