US 12,440,975 B2
Method for compensating for friction of multi-degree-of-freedom cooperative robot
Jong Hoon Park, Namyangju (KR); Woong Yong Lee, Pohang (KR); Young Jin Heo, Changwon (KR); and Gwan Woo Kim, Pohang (KR)
Assigned to NEUROMEKA, Seoul (KR)
Appl. No. 17/629,279
Filed by NEUROMEKA, Seoul (KR)
PCT Filed Oct. 30, 2020, PCT No. PCT/KR2020/015022
§ 371(c)(1), (2) Date Jan. 21, 2022,
PCT Pub. No. WO2021/086106, PCT Pub. Date May 6, 2021.
Claims priority of application No. 10-2019-0138394 (KR), filed on Nov. 1, 2019; and application No. 10-2020-0131103 (KR), filed on Nov. 1, 2019.
Prior Publication US 2022/0410388 A1, Dec. 29, 2022
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1641 (2013.01) [B25J 9/1664 (2013.01); B25J 9/1692 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A method for compensating for friction of a multi-degree-of-freedom cooperative robot including a plurality of joints, the method for compensating for friction of multi-degree-of-freedom cooperative robot comprising steps of:
generating motion of the cooperative robot for friction compensation;
driving the plurality of joints on the basis of the generated motion of the cooperative robot;
receiving friction identification data from the cooperative robot; and
calculating a friction model function from the received friction identification data,
wherein the step of generating motion of the cooperative robot comprises the step of generating a posture in which the effect of gravity is removed and the step of generating a motion for removing an inertial effect, and
in the posture in which the effect of gravity is removed, rotation axes of some of the plurality of joints are parallel to the direction of gravity, and others of the plurality of joints operate in symmetrical motion to cancel the effect of gravity.