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6R-type industrial robot load identification method

An industrial robot, load recognition technology, applied in the field of robots, can solve the problems of recognition error, increase the weight of the robot, and high cost

Active Publication Date: 2014-01-08
合肥欣奕华智能机器股份有限公司
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Problems solved by technology

From the perspective of practical application, it is not a good method to use additional sensors for identification, because for robots, adding additional sensors is not only expensive, but also increases the weight of the robot itself, which will cause certain errors in recognition , sometimes it is not possible to

Method used

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  • 6R-type industrial robot load identification method
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  • 6R-type industrial robot load identification method

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Embodiment Construction

[0066] The utility model will be described in further detail below in conjunction with accompanying drawing.

[0067] A kind of 6R type industrial robot load recognition method of the present invention, such as figure 1 As shown, it is realized through the following steps:

[0068] Step 1: According to the D-H method, establish the linkage coordinate system of the 6R industrial robot;

[0069] Such as figure 2 As shown, the 6R industrial robot refers to a 6-degree-of-freedom industrial robot whose joints are rotary joints; the 6R industrial robot can be regarded as composed of connecting rods and joints. In the connecting rod of the 6R industrial robot, set the fixed base as connecting rod 0, and then each movable connecting rod from the base side to the end effector side according to 1, 2, 3, 4, 5, 6 Each joint is numbered in the order of 1, 2, 3, 4, 5, 6 from the side of the base to the side of the end effector. In order to describe the relative positional relationship ...

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Abstract

The invention discloses a 6R-type industrial robot load identification method. Firstly, all joints are locked up to fix the structure of a 6R-type industrial robot; secondly, connecting rods in the structure are analyzed to find out the equilibrium relation between force and torque relative to a coordinate system of all the connecting rods; finally, in order to maintain the static equilibrium of a connecting rod system of the robot, the torque which needs to be applied to all the joints in sequence is calculated, and then a group of joint driving torque needed for supporting a certain load by an end effector is obtained through the method. When an unknown load is identified, all the joint driving torque of the 6R-type industrial robot is obtained through servo motor controllers of all the joints of the 6R-type industrial robot when the 6R-type industrial robot has no load or is additionally provided with the unknown load, and then the load is calculated. The 6R-type industrial robot load identification method has the advantages that force and torque sensors do not need to be additionally arranged for measuring joint force and the joint driving torque of the robot, and quality, the center of mass and other inertial parameters of all the connecting rods of the robot do not need to be known in advance.

Description

technical field [0001] The invention belongs to the technical field of robots, and specifically relates to a load identification method for a 6R type industrial robot. Background technique [0002] With the advancement of science and technology and the development of the economy, robot technology continues to improve, and the application fields of industrial robots are becoming more and more extensive. In industrial production, industrial robots are widely used in handling, welding, painting, assembly and other fields. When an industrial robot acts on different loads, due to the mismatch between the output power of the robot drive and the load, it will inevitably cause vibration, which will cause the robot to wear itself and cause operational errors, reducing the accuracy and safety of the robots work. With the development of industrial robots towards lighter structures, the contribution of the robot load to the driving torque required by the actuator is increasing, and the...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J13/00
CPCB25J9/1607
Inventor 陈友东谷平平季旭东
Owner 合肥欣奕华智能机器股份有限公司
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