Title:
REAL-TIME ROBOT MOTION PLANNING METHOD BASED ON FORCE FEEDBACK
Document Type and Number:
WIPO Patent Application WO/2021/254414
Kind Code:
A1
Abstract:
A real-time robot motion planning method based on force feedback, which method is aimed at the problem of a mechanical arm being unable to perform smooth acceleration/deceleration motion under a relatively large cyclic posture correction quantity, and corrects an existing piecewise linear force and position control method. The method comprises: sensing an external acting force by using a six-dimensional force sensor, and acquiring a posture target correction quantity per cycle of each axis of a coordinate system; determining a posture correction quantity interpolation stride cardinal number per cycle of each axis by means of the maximum cyclic posture correction quantity increment of each coordinate axis during stable operation; and finally, approximating a cyclic posture target correction quantity of each axis by means of force and position conversion and interpolation. Oscillation caused by a change in a motion state when a mechanical arm starts or stops is prevented, and smooth motion during a force control process of the mechanical arm is realized.
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Inventors:
ZHANG JIABO (CN)
XU JIANPING (CN)
ZHAO CHANGXI (CN)
LIU JINGYU (CN)
YUE YI (CN)
XU JIANPING (CN)
ZHAO CHANGXI (CN)
LIU JINGYU (CN)
YUE YI (CN)
Application Number:
PCT/CN2021/100482
Publication Date:
December 23, 2021
Filing Date:
June 17, 2021
Export Citation:
Assignee:
BEIJING WEIXING MFG PLANT CO LTD (CN)
International Classes:
B25J9/16; G05B19/423
Foreign References:
| CN111805538A | 2020-10-23 | |||
| CN108789363A | 2018-11-13 | |||
| CN105583824A | 2016-05-18 | |||
| CN106774181A | 2017-05-31 | |||
| CN110666799A | 2020-01-10 | |||
| CN104440913A | 2015-03-25 | |||
| JP2005088114A | 2005-04-07 | |||
| JPH05341834A | 1993-12-24 |
Attorney, Agent or Firm:
CREDOIP INTELLECTUAL PROPERTY AGENCY (CN)
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