Industrial robot dynamics model parameter identification method

Abstract

The present invention proposes a parameter identification method for the dynamic model of an industrial robot, comprising: establishing a dynamic model of an industrial robot with six joints connected in series; setting a periodic excitation signal, and using the periodic excitation signal to optimize the identification track of the dynamic model of the industrial robot ;Measure the data of the dynamic model of the industrial robot at multiple time points, and average the data; estimate the parameters of the dynamic model of the industrial robot according to the data average processing results, and obtain the estimator of the unknown parameter vector; The industrial robot dynamics model and estimated parameters are verified, including: calculating the prediction error of the estimated parameters and the measured parameters of the industrial robot dynamics model, and using the residual root mean square of the prediction error to verify and evaluate the industrial robot dynamics model. The invention reduces the influence of measurement noise on parameter estimation and improves the precision of dynamic parameter identification.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a method for identifying parameters of a dynamic model of an industrial robot. Background technique [0002] Accurate control and simulation of industrial robots requires accurate dynamics models. However, due to irregularities and unavoidable errors in robot design, production and manufacturing processes, the dynamic model of the robot often contains uncertainties, and the dynamic parameter identification experiment can provide effective parameter estimates and realize the precise accuracy of the robot. Track and control. The complete kinetic parameter identification includes the steps of modeling, experimental design, data acquisition, data processing, parameter estimation and model validation. [0003] In the process of designing robot dynamic parameter identification experiments, how to quickly and accurately measure joint torque is a factor that must be considere...

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Problems solved by technology

However, when measuring the motor current, there is often a large noise, which causes a large interference to the identification results

Moreover, the existing linear model is not enough to accurately describe the relationship between current and torque, especially when the current is high and the current saturation results in a small motor torque

[0006] At the same time, in order to reduce the cost of modeling and improve the identification efficiency, when the rotor inertia of the motor is small, many dynamic parameter identification models ignore the influence of the rotor inertia on the robot dynamics

However, due to the existence of the reduction ratio of the motor, the rotor inertia will have a significant impact on the dynamic behavior during fast rotation, and the dynamic model obtained by parameter identification is not accurate at this time

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