| Teaching is a process that gives robots the motion information. At present, the most popular robot teaching is carried out by teaching pendant in the industrial field, which turns out to be tedious and low efficiency especially in the need of complex motion trajectory. This paper, under direct torque control mode, calculated the joint gravity and friction torque in the process of teaching and made compensation to the joint, so that the direct-teaching of the robot was realized in the absence of joint sensor. The main contents of this paper are as follows:1)A new method was used to realize robot direct-teaching by real-time calculation and compensation for the torque needed to overcome joint gravity and friction, and the detailed implementation method of self-measurement was also designed. A robot collision detection scheme was also proposed for the safety of robot operators.2)Research on the trajectory planning technology was carried out, including linear and arc interpolation algorithm in the rectangular coordinate space, liner interpolation and PVT interpolation in the articulatory space, as well as the S type speed control algorithm to improve the smoothness of the robot.3)Position servo control algorithm has been studied to improve the precision of position control. Aimed at the influence of load disturbance on the position control, the extended state observer(ESO) was introduced to observe the overall disturbance of the system and made compensation to it. Finally, PID+ speed feed-forward+ extended state observer strategy was used as the position control algorithm, and a position control experiment was carried out to prove the good effect of this algorithm. |
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