This paper aims to propose a forcefree control algorithm that is based on a dynamic model with full torque compensation is proposed to improve the compliance and flexibility of the direct teaching of cooperative robots.
Dynamic parameters identification is performed first to obtain an accurate dynamic model. The identification process is divided into two steps to reduce the complexity of trajectory simplification, and each step contains two excitation trajectories for higher identification precision. A nonlinear friction model that considers the angular displacement and angular velocity of joints is proposed as a secondary compensation for identification. A torque compensation algorithm that is based on the Hogan impedance model is proposed, and the torque obtained by an impedance equation is regarded as the command torque, which can be adjusted. The compensatory torque, including gravity torque, inertia torque, friction torque and Coriolis torque, is added to the compensation to improve the effect of forcefree control.
The model improves the total accuracy of the dynamic model by approximately 20% after compensation. Compared with the traditional method, the results prove that the forcefree control algorithm can effectively reduce the drag force approximately 50% for direct teaching and realize a flexible and smooth drag.
The entire algorithm is verified by the laboratory-developed six degrees-of-freedom cooperative robot, and it can be applied to other robots as well.
A full torque compensation is performed after parameters identification, and a more accurate forcefree control is guaranteed. This allows the cooperative robot to be dragged more smoothly without external sensors.
