Research on Variable Admittance Drag Teaching Method of Industrial Robot Based on Damping Ellipse Correction

doi:10.3901/JME.2025.01.082

Abstract

Abstract: In the process of modern industrial production, the research of industrial robot driving instruction is of great significance to improve the interactive experience between workers and robots and improve production efficiency. The motion state of the end of the robot in the process of drag teaching is analyzed. The motion state of the end of the robot in the process of drag teaching was divided into three stages and one emergency stop, and the changing trend of the end interaction force, the end velocity and the impedance value that should be matched under each state are analyzed. A variable admittance strategy is proposed, which considered the end interaction force information and the interaction force increment. At the same time, to solve the problem that the end speed is inconsistent with the target direction in the process of drag teaching, an impedance elliptic angle correction algorithm is proposed. First, the robot is controlled to complete the teaching task of dragging several times, and the end interaction force, end speed and the angle between the end interaction force and the target direction are recorded during the teaching process. Then, the angle between the end interaction force and the target direction is characterized based on BP neural network. Finally, the damping ellipse is modified based on the network output data. It makes the impedance distribution more efficient and improves the turning efficiency of the end of the robot in the teaching process. The effectiveness of the algorithm is proved by drag teaching experiment.

Key words: damping ellipse, drag teaching, robot, variable admittance control

CLC Number:

TP242

YANG Chenglin, LI Mingfui, LIU Yi, LEI Gaopan. Research on Variable Admittance Drag Teaching Method of Industrial Robot Based on Damping Ellipse Correction[J]. Journal of Mechanical Engineering, 2025, 61(1): 82-91.

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