CN107696036A - A kind of dragging teaching machine of apery mechanical arm - Google Patents

A kind of dragging teaching machine of apery mechanical arm Download PDF

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Publication number
CN107696036A
CN107696036A CN201710719972.XA CN201710719972A CN107696036A CN 107696036 A CN107696036 A CN 107696036A CN 201710719972 A CN201710719972 A CN 201710719972A CN 107696036 A CN107696036 A CN 107696036A
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mtd
dragging
apery
robot
end effector
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CN107696036B (en
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李通通
杨涛
王燕波
张科
刘嘉宇
邹河彬
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Beijing Research Institute of Precise Mechatronic Controls
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Beijing Research Institute of Precise Mechatronic Controls
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0081—Programme-controlled manipulators with master teach-in means

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
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Abstract

A kind of dragging teaching machine of apery mechanical arm, including six-dimension force sensor, power module and teaching control device, teaching control device include physical button, I/O module, dsp chip and CAN controller；Six-dimension force sensor is used to measure the six-dimensional space power for being applied to apery robot arm end effector；Physical button is used to send dragging signal to I/O module；Dsp chip receives the measurement data of six-dimension force sensor while gathers the dragging signal of I/O module, behind calculation position and attitudes vibration amount, is sent to CAN controller；Position and attitudes vibration amount are sent to the control system of robot by CAN controller.The present invention realizes the teaching to robot apery mechanical arm position dragging and posture dragging using teaching method is dragged.

Description

A kind of dragging teaching machine of apery mechanical arm
Technical field
The invention belongs to robot field, more particularly to a kind of dragging teaching machine of apery mechanical arm.
Background technology
It is many that the lightweight seven degrees of freedom copy man mechanical arm of robot has that precision is high, security is good, man-machine interaction is good etc. Advantage, it is mainly used in man-machine coordination workplace.Generally, it is necessary to which artificial driving machinery arm is to operating position, and record This position, realize dragging teaching.But prior art is all without the position to end and the dragging control of posture is distinguished, for needing Terminal position and the applying working condition of posture are distinguished, mechanical arm dragging teaching often occurs and it is expected adjusting position, apery mechanical arm is but Adjust posture, or mechanical arm dragging teaching it is expected to adjust posture, the situation of apery mechanical arm but adjustment position, using process by Limit, it is difficult to meet the assigned operation needs under complex working condition.
The content of the invention
The technical problem to be solved in the present invention is：Overcome the deficiencies in the prior art, there is provided a kind of apery mechanical arm Teaching machine is dragged, signal is dragged by position and posture drags signal and controlled, with reference to six-dimension force sensor measurement data, is calculated imitative The position of people's robot arm end effector and attitudes vibration amount, are sent to robot control system in real time, using dragging teaching side Method realizes teaching.
The object of the invention is achieved by the following technical programs：
A kind of dragging teaching machine of apery mechanical arm, including six-dimension force sensor, power module and teaching control device, show Controller is taught to include physical button, I/O module, dsp chip, CAN controller；Drag the apery machine of teaching machine and robot Tool arm end effector connects；
Six-dimension force sensor is used to measure the six-dimensional space power for being applied to apery robot arm end effector, then will measurement Data are sent to dsp chip；
Power module is powered by the control system of robot, for six-dimension force sensor, I/O module, dsp chip and CAN Bus control unit is powered；
Physical button includes multiple buttons, for sending dragging signal, including position dragging signal and posture to I/O module Drag signal；
I/O module receives the dragging signal that physical button is sent；
Dsp chip receives the measurement data of six-dimension force sensor, while gathers the dragging signal of I/O module, carry out position and Attitudes vibration amount is calculated, and position and attitudes vibration amount then are sent into CAN controller；
CAN controller receives position and the attitudes vibration amount that dsp chip is sent, and is sent to the control system of robot System.
The dragging teaching machine of above-mentioned apery mechanical arm, the physical button include 2, and one of button sends position Signal is dragged, another button sends posture dragging signal；The dragging signal is I/O signal.
The dragging teaching machine of above-mentioned apery mechanical arm, the tool that the dsp chip carries out position and attitudes vibration amount calculates Body method is：
Step 1: the initial locus of the apery robot arm end effector of robot and posture P are：
P=(x, y, z, α, β, γ)
Wherein, x, y, z is respectively the locus coordinate of apery robot arm end effector under robot tool coordinate system, α, β, γ are respectively the spatial attitude coordinate of apery robot arm end effector under robot tool coordinate system；
Step 2: the six-dimensional space power F that six-dimension force sensor measurement is applied to apery robot arm end effector is：
F=(Fx,Fy,Fz,Tx,Ty,Tz)
Wherein, Fx、Fy、FzApery robot arm end effector x, y, z side is respectively applied under robot tool coordinate system To power, Tx、Ty、TzThe power in apery robot arm end effector x, y, z direction is respectively applied under robot tool coordinate system Square；
Step 3: establishing position and attitudes vibration change of variable matrix T is：
Wherein, when the dragging signal of I/O module drags signal for position, a value is 1, and otherwise a value is 0；When IO moulds When the dragging signal of block is that posture drags signal, b value is 1, and otherwise b value is 0；
Step 4: after the apery robot arm end effector of robot is dragged, the position of apery robot arm end effector Put and be with attitudes vibration amount Δ P：
Wherein, k is coefficient of elasticity, and e is natural Exponents, and t is six-dimensional space power F action time, and τ is response coefficient, and ε is Viscosity coefficient.
The dragging teaching machine of above-mentioned apery mechanical arm, the dragging teaching machine realize teaching using dragging teaching method, Specifically teaching method is：
Step 1: the dragging of a certain button correspondence position or posture dragging of physical button, press the button, physical button to I/O module sends position dragging signal or posture dragging signal；
Step 2: manually the apery robot arm end effector of dragging robot, six-dimension force sensor can be measured and be applied to The six-dimensional space power of apery robot arm end effector, then sends measured data to dsp chip；
Step 3: in dsp chip receiving step two six-dimension force sensor measurement data, while IO moulds in acquisition step one The position dragging signal or posture dragging signal of block, then carry out position and attitudes vibration amount calculate, by position and attitudes vibration Amount is sent to CAN controller in real time；
Step 4: after the position of CAN controller receiving step three and attitudes vibration amount, robot is sent in real time Control system；
Step 5: position and attitudes vibration amount in the control system receiving step four of robot, according to inverse kinematics meter Calculate displacement or the rotational angle in each joint of robot；
Step 6: the displacement in each joint or rotational angle are sent to the joint servo of robot by the control system of robot Controller performs, and completes the dragging cycle.
The dragging teaching machine of above-mentioned apery mechanical arm, three the step of the teaching method in, position and attitudes vibration amount Circular be：
Step 1: the initial locus of the apery robot arm end effector of robot and posture P are：
P=(x, y, z, α, β, γ)
Wherein, x, y, z is respectively the locus coordinate of apery robot arm end effector under robot tool coordinate system, α, β, γ are respectively the spatial attitude coordinate of apery robot arm end effector under robot tool coordinate system；
Step 2: the six-dimensional space power F that six-dimension force sensor measurement is applied to apery robot arm end effector is：
F=(Fx,Fy,Fz,Tx,Ty,Tz)
Wherein, Fx、Fy、FzApery robot arm end effector x, y, z side is respectively applied under robot tool coordinate system To power, Tx、Ty、TzThe power in apery robot arm end effector x, y, z direction is respectively applied under robot tool coordinate system Square；
Step 3: establishing position and attitudes vibration change of variable matrix T is：
Wherein, when the dragging signal of I/O module drags for position, a value is 1, and otherwise a value is 0；When I/O module When dragging signal is that posture drags signal, b value is 1, and otherwise b value is 0；
Step 4: after the apery robot arm end effector of robot is dragged, the position of apery robot arm end effector Put and be with attitudes vibration amount Δ P：
Wherein, k is coefficient of elasticity, and e is natural Exponents, and t is six-dimensional space power F action time, and τ is response coefficient, and ε is Viscosity coefficient.
The present invention has the advantages that compared to prior art：
(1) present invention is realized to apery mechanical arm tail end using position dragging signal and posture dragging signal control Position and posture teaching, apery mechanical arm tail end is realized independent position dragging and realize independent posture dragging；
(2) teaching control device of the present invention completes the processing to six-dimension force sensor and I/O module signal, reduces to machine The hardware-dependent of people's control system；
(3) for the present invention using teaching of the teaching method realization to apery mechanical arm tail end is dragged, teaching method is simple to operate, Teaching process is easy；
(4) present invention can be adjusted by the viscosity coefficient and coefficient of elasticity in adjustment position and attitudes vibration amount model Response effect during dragging；And when response coefficient is smaller, dragging is very easy to, and is adapted to the dragging larger to mechanical arm scope； When response coefficient is larger, it is adapted to the fine dragging of mechanical arm.
Brief description of the drawings
Fig. 1 is the three dimensional structure diagram of present invention dragging teaching machine；
Fig. 2 is the sectional view of present invention dragging teaching machine；
Fig. 3 is the present invention and the apery robot arm end effector connection diagram of robot；
Fig. 4 is present invention dragging teaching machine supply access and signal path schematic diagram；
Fig. 5 is teaching method flow chart.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with implementation of the accompanying drawing to the present invention Mode is described in further detail.
Fig. 1~Fig. 3 gives present invention dragging teaching machine composition and the mechanical arm tail end of dragging teaching machine and robot Actuator connects partial schematic diagram, and dragging teaching machine includes six-dimension force sensor 1, power module 2 and teaching control device 3, teaching Controller 3 includes physical button 4, I/O module, dsp chip, CAN controller.
Fig. 4 applies for present invention dragging teaching machine supply access and signal path schematic diagram, six-dimension force sensor 1 for measurement The six-dimensional space power of the apery robot arm end effector of robot is added to, then sends measured data to dsp chip；Power supply Module 2 by robot control system provide 24V dc sources, for six-dimension force sensor 1, I/O module, dsp chip and CAN controller is powered；Physical button is respectively A buttons and B buttons including 2 buttons in the present embodiment, exports IO letters Number, for sending dragging signal to I/O module, when A buttons are pressed, outgoing position dragging signal；When B buttons are pressed, output Posture drags signal；I/O module receives the dragging signal that physical button is sent；Dsp chip receives the measurement of six-dimension force sensor 2 Data, while the dragging signal of I/O module is gathered, then carry out position and the appearance of the apery robot arm end effector of robot State variable quantity is calculated, and above-mentioned position and attitudes vibration amount are sent into CAN controller；CAN controller receives DSP cores The position and attitudes vibration amount that piece is sent, it is then sent to the control system of robot.
Fig. 5 gives teaching method flow chart, and dragging teaching machine realizes teaching, specific teaching side using dragging teaching method Method is：
Step 1: dragging teaching machine is installed to the apery robot arm end effector of robot, then in robot control Tool coordinates system is set in system processed, the physical size of dragging teaching machine is covered in tool coordinates system；
Step 2: the A buttons correspondence position of physical button drags in the present embodiment, B buttons correspond to posture dragging, press A Button, physical button send position dragging signal to I/O module, press B buttons, and physical button sends posture dragging to I/O module Signal；
Step 3: manually dragging the end effector of apery mechanical arm, six-dimension force sensor 1, which can measure, is applied to apery machine The six-dimensional space power of tool arm end effector, then sends measured data to dsp chip；
Step 4: in dsp chip receiving step three six-dimension force sensor 1 measurement data, while IO in acquisition step two The position dragging signal or posture dragging signal of module, then carry out position and attitudes vibration amount calculate, position and posture are become Change amount is sent to CAN controller in real time, and the circular of position and attitudes vibration amount is：
The initial locus of the apery robot arm end effector of (4a) robot and posture are P, P by position coordinates and Posture coordinate represents jointly：
P=(x, y, z, α, β, γ)
Wherein, x, y, z is respectively the locus coordinate of apery robot arm end effector under robot tool coordinate system, α, β, γ are respectively the spatial attitude coordinate of apery robot arm end effector under robot tool coordinate system；
The six-dimensional space power that (4b) six-dimension force sensor measurement is applied to apery robot arm end effector is F, and F is by position Power and spatial attitude power represent jointly：
F=(Fx,Fy,Fz,Tx,Ty,Tz)
Wherein, Fx、Fy、FzApery robot arm end effector x, y, z side is respectively applied under robot tool coordinate system To power, Tx、Ty、TzThe power in apery robot arm end effector x, y, z direction is respectively applied under robot tool coordinate system Square；
(4c) establishes position and attitudes vibration change of variable matrix T is：
Wherein, when A buttons are pressed, a value is 1, and when A buttons are not pressed, a value is 0；When B buttons are pressed, b Value be 1, when B is pressed by non-button, b value is 0；A buttons and B buttons are separate, and two buttons can be pressed or together simultaneously When do not press, also can individually press next button.
(4d) when drag robot apery robot arm end effector after, the position of apery robot arm end effector and Attitudes vibration amount Δ P is：
Wherein, k is coefficient of elasticity, and e is natural Exponents, and t is six-dimensional space power F action time, and τ is response coefficient, and ε is Viscosity coefficient.In the present embodiment, the span that k span is 200~1000, ε is 1000~20000, wherein k and ε Value need ensure τ value be not less than 5.Δ x, Δ y, Δ z are respectively dragging apery mechanical arm under robot tool coordinate system The position coordinates of apery robot arm end effector is relative to the variable quantity of P position coordinate x, y, z, Δ α, Δ after end effector β, Δ γ are respectively that apery robot arm end effector after apery robot arm end effector is dragged under robot tool coordinate system Posture coordinate relative to P posture coordinates α, β, γ variable quantity.
By the viscosity coefficient and coefficient of elasticity in adjustment position and attitudes vibration amount model, sound during dragging can be adjusted Answer effect；And when response coefficient is smaller, dragging is very easy to, and is adapted to the dragging larger to mechanical arm scope；Work as response coefficient When larger, it is adapted to the fine dragging of mechanical arm.
Step 5: position and the attitudes vibration of the apery robot arm end effector of CAN controller receiving step four After amount, the control system of robot is sent in real time；
Step 6: position and attitudes vibration amount in the control system receiving step five of robot, according to inverse kinematics meter Calculate displacement or the rotational angle in each joint of robot；
Step 7: the displacement in each joint or rotational angle are sent to the joint servo of robot by the control system of robot Controller performs, and completes the dragging cycle；
Step 8: removing dragging teaching machine, the tool coordinates system in robot control system is reset, not comprising dragging The physical size of teaching machine, you can normal work.
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.

Claims (5)

  1. A kind of 1. dragging teaching machine of apery mechanical arm, it is characterised in that：Including six-dimension force sensor, power module and teaching Controller, teaching control device include physical button, I/O module, dsp chip, CAN controller；Drag teaching machine and robot Apery robot arm end effector connection；
    Six-dimension force sensor is used to measure the six-dimensional space power for being applied to apery robot arm end effector, then by measurement data It is sent to dsp chip；
    Power module is powered by the control system of robot, for six-dimension force sensor, I/O module, dsp chip and CAN Controller is powered；
    Physical button includes multiple buttons, for sending dragging signal, including position dragging signal and posture dragging to I/O module Signal；
    I/O module receives the dragging signal that physical button is sent；
    Dsp chip receives the measurement data of six-dimension force sensor, while gathers the dragging signal of I/O module, carries out position and posture Variable quantity is calculated, and position and attitudes vibration amount then are sent into CAN controller；
    CAN controller receives position and the attitudes vibration amount that dsp chip is sent, and is sent to the control system of robot.
  2. A kind of 2. dragging teaching machine of apery mechanical arm according to claim 1, it is characterised in that：The physical button Including 2, one of button sends position dragging signal, and another button sends posture dragging signal；The dragging signal It is I/O signal.
  3. A kind of 3. dragging teaching machine of apery mechanical arm according to claim 1, it is characterised in that：The dsp chip Carrying out the specific method that position and attitudes vibration amount calculate is：
    Step 1: the initial locus of the apery robot arm end effector of robot and posture P are：
    P=(x, y, z, α, β, γ)
    Wherein, x, y, z is respectively the locus coordinate of apery robot arm end effector under robot tool coordinate system, α, β, γ is respectively the spatial attitude coordinate of apery robot arm end effector under robot tool coordinate system；
    Step 2: the six-dimensional space power F that six-dimension force sensor measurement is applied to apery robot arm end effector is：
    F=(Fx,Fy,Fz,Tx,Ty,Tz)
    Wherein, Fx、Fy、FzApery robot arm end effector x, y, z direction is respectively applied under robot tool coordinate system Power, Tx、Ty、TzThe torque in apery robot arm end effector x, y, z direction is respectively applied under robot tool coordinate system；
    Step 3: establishing position and attitudes vibration change of variable matrix T is：
    <mrow> <mi>T</mi> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mi>a</mi> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mi>a</mi> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mi>a</mi> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mi>b</mi> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mi>b</mi> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mi>b</mi> </mtd> </mtr> </mtable> </mfenced> </mrow>
    Wherein, when the dragging signal of I/O module drags signal for position, a value is 1, and otherwise a value is 0；When I/O module When dragging signal is that posture drags signal, b value is 1, and otherwise b value is 0；
    Step 4: when drag robot apery robot arm end effector after, the position of apery robot arm end effector and Attitudes vibration amount Δ P is：
    <mrow> <mi>&amp;Delta;</mi> <mi>P</mi> <mo>=</mo> <mfrac> <mi>F</mi> <mi>k</mi> </mfrac> <mrow> <mo>(</mo> <mn>1</mn> <mo>-</mo> <msup> <mi>e</mi> <mrow> <mo>-</mo> <mfrac> <mi>t</mi> <mi>&amp;tau;</mi> </mfrac> </mrow> </msup> <mo>)</mo> </mrow> <mo>&amp;times;</mo> <mi>T</mi> </mrow>
    <mrow> <mi>&amp;tau;</mi> <mo>=</mo> <mfrac> <mi>&amp;epsiv;</mi> <mi>k</mi> </mfrac> </mrow>
    Wherein, k is coefficient of elasticity, and e is natural Exponents, and t is six-dimensional space power F action time, and τ is response coefficient, and ε is viscosity Coefficient.
  4. A kind of 4. dragging teaching machine of apery mechanical arm according to claim 1, it is characterised in that：The dragging teaching Device realizes teaching using dragging teaching method, and specific teaching method is：
    Step 1: the dragging of a certain button correspondence position or posture dragging of physical button, press the button, physical button is to IO moulds Block sends position dragging signal or posture dragging signal；
    Step 2: manually the apery robot arm end effector of dragging robot, six-dimension force sensor can measure and be applied to apery The six-dimensional space power of robot arm end effector, then sends measured data to dsp chip；
    Step 3: in dsp chip receiving step two six-dimension force sensor measurement data, while I/O module in acquisition step one Position drags signal or posture dragging signal, then carries out position and attitudes vibration amount calculates, and position and attitudes vibration amount is real When be sent to CAN controller；
    Step 4: after the position of CAN controller receiving step three and attitudes vibration amount, the control of robot is sent in real time System；
    Step 5: position and attitudes vibration amount in the control system receiving step four of robot, go out according to the computation of inverse- kinematics Each joint displacements or rotational angle of robot；
    Step 6: each joint displacements or rotational angle are sent to the joint servo control device of robot by the control system of robot Perform, complete the dragging cycle.
  5. A kind of 5. dragging teaching machine of apery mechanical arm according to claim 4, it is characterised in that：The teaching method The step of three in, the circular of position and attitudes vibration amount is：
    Step 1: the initial locus of the apery robot arm end effector of robot and posture P are：
    P=(x, y, z, α, β, γ)
    Wherein, x, y, z is respectively the locus coordinate of apery robot arm end effector under robot tool coordinate system, α, β, γ is respectively the spatial attitude coordinate of apery robot arm end effector under robot tool coordinate system；
    Step 2: the six-dimensional space power F that six-dimension force sensor measurement is applied to apery robot arm end effector is：
    F=(Fx,Fy,Fz,Tx,Ty,Tz)
    Wherein, Fx、Fy、FzApery robot arm end effector x, y, z direction is respectively applied under robot tool coordinate system Power, Tx、Ty、TzThe torque in apery robot arm end effector x, y, z direction is respectively applied under robot tool coordinate system；
    Step 3: establishing position and attitudes vibration change of variable matrix T is：
    <mrow> <mi>T</mi> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mi>a</mi> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mi>a</mi> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mi>a</mi> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mi>b</mi> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mi>b</mi> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mi>b</mi> </mtd> </mtr> </mtable> </mfenced> </mrow>
    Wherein, when the dragging signal of I/O module drags signal for position, a value is 1, and otherwise a value is 0；When I/O module When dragging signal is that posture drags signal, b value is 1, and otherwise b value is 0；
    Step 4: when drag robot apery robot arm end effector after, the position of apery robot arm end effector and Attitudes vibration amount Δ P is：
    <mrow> <mi>&amp;Delta;</mi> <mi>P</mi> <mo>=</mo> <mfrac> <mi>F</mi> <mi>k</mi> </mfrac> <mrow> <mo>(</mo> <mn>1</mn> <mo>-</mo> <msup> <mi>e</mi> <mrow> <mo>-</mo> <mfrac> <mi>t</mi> <mi>&amp;tau;</mi> </mfrac> </mrow> </msup> <mo>)</mo> </mrow> <mo>&amp;times;</mo> <mi>T</mi> </mrow>
    <mrow> <mi>&amp;tau;</mi> <mo>=</mo> <mfrac> <mi>&amp;epsiv;</mi> <mi>k</mi> </mfrac> </mrow>
    Wherein, k is coefficient of elasticity, and e is natural Exponents, and t is six-dimensional space power F action time, and τ is response coefficient, and ε is viscosity Coefficient.
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Cited By (4)

* Cited by examiner, † Cited by third party
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CN109822565A (en) * 2019-01-15 2019-05-31 北京镁伽机器人科技有限公司 Robot control method, system and storage medium
CN110948468A (en) * 2018-09-27 2020-04-03 电装波动株式会社 Robot control method and control device
CN112847366A (en) * 2021-01-07 2021-05-28 溱者(上海)智能科技有限公司 Force and position hybrid teaching robot system and teaching method
CN114161479A (en) * 2021-12-24 2022-03-11 上海机器人产业技术研究院有限公司 Robot dragging demonstration performance test system and test method

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Publication number Priority date Publication date Assignee Title
CN110948468A (en) * 2018-09-27 2020-04-03 电装波动株式会社 Robot control method and control device
CN109822565A (en) * 2019-01-15 2019-05-31 北京镁伽机器人科技有限公司 Robot control method, system and storage medium
CN112847366A (en) * 2021-01-07 2021-05-28 溱者(上海)智能科技有限公司 Force and position hybrid teaching robot system and teaching method
CN114161479A (en) * 2021-12-24 2022-03-11 上海机器人产业技术研究院有限公司 Robot dragging demonstration performance test system and test method
CN114161479B (en) * 2021-12-24 2023-10-20 上海机器人产业技术研究院有限公司 Robot dragging teaching performance test system and test method

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