Method and module for distinguishing load of six-axis robot

Abstract

The embodiment of the invention relates to the technical field of robot control, and discloses a method and a module for distinguishing a load of a six-axis robot. The method for distinguishing the load of the six-axis robot comprises the following steps: according to a preset parameter limiting value of each joint, generating an excitation track of the six-axis robot; when the six-axis robot carrying the load is controlled to run along the excitation track, collecting a parameter running value of each joint; according to the parameter running value of each joint and a preset robot dynamics model, calculating a torque predicting value of each joint; calculating a difference between the torque running value and the torque predicting value, the difference serving as torque produced by the load, and according to preset relationship of the torque produced by the load and a load inertia parameter, calculating the load inertia parameter. The embodiment of the invention also provides the module for distinguishing the load of the six-axis robot. The module for distinguishing the load of the six-axis robot disclosed by the embodiment has the advantage that compared with the prior art, the parameter running value of the robot is collected on line, and the load inertia parameter of the robot is distinguished; because a six-dimensional force sensor is not used, the cost is reduced.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of robot control, in particular to a load identification method and module of a six-axis robot. Background technique [0002] Industrial robots have been increasingly used in work scenarios such as handling and palletizing. When picking up different objects, it will lead to changes in the load at the end of the robot, including physical quantities such as mass and inertia at the end. For a robot carrying a heavy load, the mass ratio of the load to the body can reach 1:1, which will cause the load to have a great impact on the robot drive. For servo drives, different loads will correspond to different inertia ratios, stiffness and other parameters. If the load changes, but the actual control parameters remain unchanged, it will have an adverse effect on the robot's motion accuracy, speed and other working performance, and even cause mechanical vibration. Therefore, the load identif...

AI Technical Summary

Problems solved by technology

Although this method does not require external sensors, it can only identify the mass of the load in the end, but the position of the center of mass and inertia of the load cannot be identified.

In addition, the premise of this method is that the results can only be obtained when the robot is moving at a constant speed or in a static state, which is not suitable for the requirements of most industrial robots

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