The NexDroid system comes with payload dynamics features developed in-house by iNexBot Technology, including torque feedforward, collision detection, and drag teaching.
iNexBot Technology Robot Dynamics (bilibili)
Torque Feedforward
Torque feedforward anticipates how the arm will move before it actually does, and uses that information to adjust for and optimize deviations that may occur during motion — such as arm vibration in certain postures or after a load is attached. Because torque feedforward knows in advance what torque each joint should apply, it reduces overshoot during motion, which manifests macroscopically as suppressed arm vibration.
Beyond suppressing vibration, torque feedforward also increases arm speed, reduces position tracking error, and makes arm motion smoother and more compliant. In practice, once dynamics identification is complete, simply enable the torque feedforward switch and it will be applied whenever job programs are run.
To use it, simply enter the load's mass and offset and the payload dynamics features can be applied in real production. During production, the load at the arm's end effector can also be updated via commands, greatly increasing the flexibility of the feature.
Combining load-capable dynamics with torque feedforward effectively eliminates vibration when the arm carries heavy loads, and also allows the arm to move faster.
Drag Teaching
Dynamics-based drag teaching requires no external force sensor. Even a standard six-axis robot can achieve smooth drag teaching, and dragged trajectories can be recorded and replayed. Just enter the load's mass and offset to enable dragging with a payload.
iNexBot Drag Teaching (bilibili)
Collision Detection
The collision detection feature of payload dynamics works with any six-axis robot. Even without external sensors, it remains highly sensitive while carrying a load, greatly reducing the likelihood of production accidents.
