6R-type industrial robot load identification method
An industrial robot and load recognition technology, applied in the field of robotics, can solve problems such as high cost, increased robot weight, and recognition errors
Active Publication Date: 2015-07-08
合肥欣奕华智能机器股份有限公司
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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
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[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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The invention discloses a load recognition method of a 6R industrial robot. Firstly, all joints are locked to fix the structure of the 6R industrial robot, and then the connecting rods in this structure are analyzed to find out the force and moment for each connecting rod coordinates. Finally, in order to maintain the static balance of the robot linkage system, calculate how much torque needs to be applied to each joint in turn, and use this method to find a set of joints required for the end effector to support a certain load drive torque. When identifying the unknown load, when the 6R industrial robot is empty and with an unknown load, the servo motor controller of each joint of the 6R industrial robot is used to obtain the driving torque of each joint of the 6R industrial robot, and then the load is calculated. The invention has the advantages that no additional additional force and moment sensors are needed to measure the joint forces and joint drive moments of the robot, and no prior knowledge of inertial parameters such as the mass and center of mass of each connecting rod of the robot is required.
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...
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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