Robot tail end stress adjusting method and robot

• Main Authors: YE JIANGLIN, CHEN LINGPING, YU YONGCHEN, LIU YIXIN, ZHANG ZHISHAN, LIU BIYUN, QIU ZHIRONG, LU LIANGWANG
• Format: Patent
• Language: Chinese; English
• Published: 09.09.2022
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention discloses a method for adjusting the stress of the tail end of a robot and the robot, and belongs to the technical field of robos.The method comprises the steps that the pressure value of a flexible clamping jaw when the flexible clamping jaw clamps an object is collected based on a pressure sensor on the flexible clamping jaw; inputting the collected pressure value into a learning vector quantization model to adaptively adjust a PID parameter in a PID controller; the PID controller generates a control instruction of the variable-diameter driving motor based on the PID parameters; and a variable-diameter driving motor in the electric variable-diameter mechanism drives the flexible clamping jaw based on a control instruction of the variable-diameter driving motor. According to the flexible clamping jaw, precise control over the stress of the flexible clamping jaw by the robot can be improved, and the situation that a clamped object is damaged when the stress of the flexible clamping jaw is output