Method for improving robot parameter identification accuracy

A technology for parameter identification and robotics, which is applied to instruments, adaptive control, control/regulation systems, etc., and can solve problems such as inaccurate identification, inability to identify dynamic parameters, and complicated optimization steps for excitation trajectory selection.

Active Publication Date: 2015-05-13
NANJING ESTUN ROBOTICS CO LTD
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Problems solved by technology

[0004] The excitation trajectory selection and optimization steps in the existing robot parameter identification process are complex, the optimization efficiency is low, and the optimized excitation trajectory cannot meet the subsequent high-precision sampling requirements
In addition, the position information and torque information of each joint obtained through the direct measurement of the optimize

Method used

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  • Method for improving robot parameter identification accuracy
  • Method for improving robot parameter identification accuracy
  • Method for improving robot parameter identification accuracy

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Embodiment Construction

[0046] The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

[0047] Now take a six-joint serial industrial robot as the parameter identification object, and take the parameter identification of 1, 2, and 3 joints as an example, and design five-item Fourier series excitation trajectories, that is, N=5, that is, each joint’s There are 11 optimized parameters in the excitation trajectory.

[0048] First, determine the excitation trajectory for robot parameter identification, which is a finite Fourier series:

[0049] q i ( t ) = q i , 0 + Σ k = 1 N a i , k ...

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Abstract

The invention discloses a method for improving robot parameter identification accuracy and belongs to the field of industrial robot control. The method comprises optimizing stimulation trajectories through a genetic algorithm; stimulate a robot to perform cyclical movement according to the optimized stimulation trajectories; sampling actual joint positions and actual torque data during moving and processing the data to obtain torque values, joint positions, joint speeds and joint accelerated speeds which are high in signal to noise ratio; establishing a dynamic linear model, and identifying all parameters related to joint dynamics through a weighted least square method. By the aid of the method, the actual trajectory Fourier series form is fit through an inverse method, and accordingly, speeds and accelerated speeds which cannot be obtained directly in experiments can be obtained conveniently, noise signals in sampling position signals and torque signals can be eliminated through an equalization method, the signal to noise ratio is improved and the robot parameter identification accuracy is improved.

Description

technical field [0001] The invention relates to a method for improving the identification accuracy of robot parameters, which belongs to the field of industrial robot control. Background technique [0002] An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device for the industrial field. It can perform work automatically and is a machine that realizes various functions by its own power and control capabilities. It can be directed by a human, or it can run according to a pre-programmed program. At present, industrial robot technology is developing in the direction of high speed, high precision and intelligence, so higher requirements are put forward for the control precision of industrial robots. [0003] A key factor affecting the control accuracy of a robot is the accuracy of its dynamic model, and establishing an accurate dynamic model requires the dynamic parameters of each joint of the robot, but in general, the dynamic parameters can...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 潘婷婷王杰高韩邦海
Owner NANJING ESTUN ROBOTICS CO LTD
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