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Static and dynamic identification method for dynamic parameter for robot

A technology of dynamic parameters and identification methods, which is applied in the field of dynamic and static step-by-step identification of the dynamic parameters of each connecting rod of a robot, can solve problems such as the inability to identify the dynamic parameter values ​​of connecting rods, and reduce complexity and dynamic measurement effect of error

Inactive Publication Date: 2012-01-18
BEIJING UNIV OF POSTS & TELECOMM
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Problems solved by technology

[0004] The present invention proposes an identification method for the dynamic parameters of the robot manipulator arm. The identification adopts the idea of ​​dynamic and static identification to overcome the problem that the dynamic parameter values ​​of all connecting rods cannot be identified due to the coupling problem of the parameters.

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  • Static and dynamic identification method for dynamic parameter for robot
  • Static and dynamic identification method for dynamic parameter for robot
  • Static and dynamic identification method for dynamic parameter for robot

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[0023] The method of the present invention will be described in further detail below in conjunction with the accompanying drawings.

[0024] first refer to attached figure 1 The symbols appearing later are explained. c n Represents the center of mass of the nth link of the robot, n p n+1 Represents the coordinates of the n+1th joint in the n coordinate system, ∑ n represents the nth joint coordinate system, Represents the rotation transformation matrix from coordinate system n to coordinate system n+1, θ n Represents the joint angle, angular velocity, and angular acceleration of the nth joint, n ω n n alpha n Represents the angular velocity and angular acceleration of the nth link in the current coordinate system, n v n n a n Represents the linear velocity and linear acceleration of the nth joint in the current coordinate system, n f n Represents the force of the n-1 connecting rod acting on the n connecting rod in the nth coordinate system, n no n Represen...

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Abstract

The invention discloses a static and dynamic identification method for a dynamic parameter for a robot, which needs to provide a robot substrate six-axis force as well as the driving torque, the angular velocity and the angular acceleration of each joint. During static identification, a multidimensional matrix is built by the rotation transformation relationship between connecting rod coordinate systems of the robot by changing the configuration of a mechanical arm, a static identification model is built, and the product of the quality of each connecting rod and the coordinate of the centroid is solved with a least square method. According to a static identification result, a mechanical arm dynamics equation of a dynamics parameter decoupling form is deduced on the basis of the Newton-Euler algorithm. In the dynamic identification, each joint is planned to move in a specific combination mode, and the inertia tensor and the coordinate of the centroid from a tail-end connecting rod to a connecting rod 1 are successively identified with a pseudo inverse method so as to the full identification of the dynamic parameter for the robot. The parameter identification result disclosed by the invention comprises the mechanical arm joint characteristics, and therefore, the inertia parameter value in the practical work of the robot can be reflected.

Description

technical field [0001] The invention relates to the technical field of robot parameter identification, in particular to a dynamic and static step-by-step identification method for identifying the dynamic parameters of each connecting rod of a robot. Background technique [0002] The development of robot control technology determines the development level of robot technology. In terms of robot dynamics modeling, due to the inaccuracy of actual measurement and modeling, coupled with the existence of load changes, external disturbances and a large number of uncertain factors, it is difficult for us to obtain the actual accurate and complete motion model of the robot. The expansion of the application range of robots, the rapid development of robot technology and the further improvement of automation have put forward higher requirements for the performance of robots. First of all, in the actual application of robots, work efficiency and quality are important indicators to measur...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/00
Inventor 贾庆轩张岩陈钢孙汉旭朱宁宁
Owner BEIJING UNIV OF POSTS & TELECOMM
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