Feedforward torque compensating method used for industrial robot

The invention relates to a feedforward torque compensating method used for an industrial robot. The method includes the steps that (1) a buffer queue is established according to an interpolation point queue obtained after all motors are subjected to interpolation calculation, and the central differe...

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Bibliographic Details
Main Authors GONG WENTAO, ZHANG TIE, ZOU YANBIAO
Format Patent
LanguageChinese
English
Published 11.01.2017
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Summary:The invention relates to a feedforward torque compensating method used for an industrial robot. The method includes the steps that (1) a buffer queue is established according to an interpolation point queue obtained after all motors are subjected to interpolation calculation, and the central difference method is adopted for obtaining the theoretical joint angular velocities and joint angular accelerations corresponding to all the motors of interpolation points; (2) the lagrange equation is used for obtaining the feedforward compensating torques of all joints during all interpolation periods according to the expected rotating angles, angular velocities and angular accelerations of all the joints during the interpolation periods and a kinetic model of the robot; and (3) the feedforward compensating torque tau feedforward is added into the electric current loop input position of the motor bottom layer to serve as a PD feedback torque tau feedback supplement. By means of the feedforward torque compensating method
Bibliography:Application Number: CN20161836963