Intelligent Force Control
Intelligent force control includes on-load dynamics functions such as torque-based collision detection, drag teaching, and torque feedforward.
For ease of use, the dynamic parameters in the iNexBot control system are generated automatically through identification. The robot's dynamic parameters can be obtained by simply running the preset trajectory system automatically.
With the development of industrial robot technology, the functions that robots need to achieve are becoming more and more complex. However, during the movement of robots, it may be necessary for operators to enter the robot's workspace. The safety of operators is of utmost importance in such scenarios. Therefore, real-time detection of collisions between robots and operators is necessary to ensure the personal safety of the operators. This collision detection feature can also prevent collaborative robots from colliding with each other during operation. The feature can be adapted to any 6-axis robot and can achieve high sensitivity even without external sensors. It can work reliably even under load conditions, significantly reducing the occurrence of production accidents.
After completing the dynamic identification, simply switch on the torque feedforward function to apply it during the execution of the job programs.
The torque feedforward function aims to predict the motion of the robotic arm before it actually moves and adjust and optimize for potential deviations. For instance, the arm may experience vibrations in certain attitudes or when carrying loads. Through torque feedforward, we can anticipate the torque required for each joint during motion, thereby reducing overshoot during the movement, which translates to suppressing the arm's vibrations. Torque feedforward not only mitigates vibrations but also enhances the arm's operational speed, reduces position tracking errors, and improves the smoothness of its motion.
In practical applications, it is only necessary to provide the mass and offset of the load to apply the on-load dynamics functions to production. Additionally, during the production process, the load condition at the end of the robotic arm can be updated through instructions, greatly enhancing the flexibility of the functions.
By combining on-load dynamics functions and torque feedforward capability, we can significantly reduce vibrations in robotic arms when they handle heavy loads. This approach also boosts the arm's movement speed and performance.
The drag teaching feature of the iNexBot control system supports two drag modes: torque dragging and 3D mouse dragging.
Torque dragging refers to dragging a robot by applying external forces, with the ability to record and playback the dragging trajectories. There are three modes of torque dragging: free dragging, position dragging, and attitude dragging. The smoothness of each axis during dragging can be achieved by setting the joint friction coefficient. However, the friction coefficient should not be set too high, as it may cause the robot to drop down when powered on, posing a danger to both the operator and the robot.
The dragging trajectories will be recorded in the "Human-robot collaboration - Drag teaching" interface and saved in the trajectory management interface. These dragging trajectories will be continuously saved, and users can playback the recorded trajectories at any time.
In the "Monitor-Hotkeys-Trajectory playback" interface, we can also implement the recording of dragging trajectories. The dragging trajectories will be saved in real-time on the trajectory management interface.
The drag teaching instruction belongs to the motion control instructions.
The drag teaching instruction also supports trajectory playback, and you can switch to the desired trajectory for playback at any time.
3D mouse dragging
In some human-machine interaction tasks, when people need to drag the robot to move in a straight line, torque dragging may not meet the requirements. In such cases, our 3D mouse can be used to achieve end effector movement along the XYZ axes and attitude adjustment along the ABC axes. Compared to torque dragging, 3D mouse dragging offers higher precision.
In terms of usage, after the identification is completed, please turn on the enable switch and fill in the load parameters. The robot will automatically adjust the acceleration and deceleration during its operation.