Hand Guiding

A breakthrough solution enabling industrial robots without force sensors to execute drag-and-teach operations.

Overview

Most industrial robots lack force sensors, thus unable to perform hand guided (drag-and-teach) operations. However, our module offers a solution to enable hand guided control (HGC) functionality for industrial robots without any force sensors. By utilizing the position and torque feedback of servo motors along with estimations of gravity and friction forces, our module achieves sensor-less HGC. Currently, this module is applicable to industrial six-axis and seven-axis robotic arms. Through this module, operators can intuitively guide the robot to desired positions for teaching points.

Main Features

Main Features

  • Sensor-less hand guiding control

  • Integrated both gravity and friction compensations

  • Support gravity direction setting

  • Support hand guiding with tool

  • Intention detection technology makes hand guiding smooth

  • Support auto identification of gravity compensation parameters

  • Support auto identification of friction compensation parameters

  • Support online friction force compensation fine tuning

Specifications

Support robot type

  • AR6 (Standard articulated 6 joints Robot)

  • ARU6 ( Collaborative articulated 6 joints Robot)

  • AR7 (Standard articulated 7 joints Robot)

Support servo drive type
  • Typical EtherCAT CoE servo drives with torque control and torque feedback

Robot HGC parameters
  • The mass and center of mass positions of each link, as well as the static and dynamic friction parameters.

Tools HGC parameters
  • The mass and center of mass positions

Support I/O trigger HGC
  • Yes

Supports wall-mounted and ceiling-mounted robot installation.
  • Yes, Gravity direction can be defined

Support robot HGC parameters auto identification
  • Yes
载入更多