BORUNTE伯朗特 NBT系统_人机协作手册 EN.pdf

伯朗特机器人股份有限公司

BORUNTEROBOTCO.,LTD.

Contents

Human-RobotCollaboration1

Dynamicparameter1

Identification1

Mechanicalfunction4

Drag-and-dropteaching4

3Dmouse5

Torque7

Trajectorymanagement9

Externalbuttons9

Drag-and-dropteachinginstructions10

DRAG_TRAJECTORYinstruction10

伯朗特机器人股份有限公司

BORUNTEROBOTCO.,LTD.

人机协作

Human-RobotCollaboration

Thischapterfocusesontheroleofdynamicsandhowtouseit.

Duetothecomplexnonlinearity,time-varyinguncertaintyandstrongcouplingoftherobot(especiallywhenmovingathighspeed),the

servomotorofeachjointoftherobotmusthavesufficientforceandtorquetodrivethelinkandjointsoftherobotinordertomaketherobot

moveatthedesiredspeedandacceleration.Otherwise,thepositioningandtrajectoryaccuracyoftherobotwillbeaffectedbytheslow

motionofthelink.Therefore,thefeedforwardtorquecontrolbasedonthedynamicalmodelmustbeestablished.Therefore,thefeedforward

compensationtorquecanbequicklycalculatedinrealtime.

Human-robotcollaboration(HRC)referstotheworkinwhichhumansandautomatedmachinessharetheworkspaceandwork

simultaneously.

Dynamicparameter

Beforeusingthemechanicalfunctio