Device and method for identifying kinetic parameters of terminal loads of six-degree-of-freedom robot
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A technology of dynamic parameters and identification methods, applied in the field of dynamic parameter identification of end loads, can solve problems such as poor software and hardware compatibility, unsatisfactory identification results, and improper algorithm selection.
Active Publication Date: 2017-01-25
SOUTH CHINA UNIV OF TECH
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[0005] However, the platform identification effect of many six-degree-of-freedom industrial robot terminal load dynamic parameter identification is not very id
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Embodiment 1
[0085] Such as Figure 1 to Figure 3 As shown, a device for identifying dynamic parameters of a six-degree-of-freedom robot terminal load includes a six-axis industrial robot 2, a number of loads 1 of different qualities that can be alternatively arranged at the end of the six-axis industrial robot, and a real-time control system. The real-time control system is used to implement millisecond-level real-time motion data collection for the robot.
[0086] Specifically, the collected real-time motion data includes encoder values and torque values.
[0087] Specifically, the material of the load is steel.
[0088] In this embodiment, a series of loads 1 with different configurations are designed by using three-dimensional design and drawing software, and the mass can be designed by oneself. In this experiment, the first load and the second load are designed; steel materials are used for self-designed loads, and they are processed.
Embodiment 2
[0090] Such as Figure 4 As shown, a method for identifying dynamic parameters of a six-degree-of-freedom robot end load based on the device includes steps:
[0091] (1) Establish a kinetic model according to the Lagrangian equation;
[0092] (2) Design the incentive trajectory;
[0093] (3) Implement millisecond-level real-time data collection for the robot through the real-time control system, and average multiple sampling data and improve the signal-to-noise ratio with the central difference method; the amount of collected data can be expanded, which not only ensures sufficient sampling data, but also provides The identification of the kinetic parameters of the end load provides the data basis.
[0094] (4) Identification of load parameters, substituting the parameters into the built dynamic model, and then estimating the dynamic parameters to be identified;
[0095] (5) Model verification. Using the identified load dynamic parameters to calculate the theoretical value o...
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Abstract
The invention discloses a device for identifying kinetic parameters of terminal loads of a six-degree-of-freedom robot. The device comprises a six-axis industrial robot, a plurality of loads of different masses and a real-time control system, wherein the plurality of loads of different masses are alternatively arranged on the terminal of the six-axis industrial robot, the real-time control system is used for implementing millisecond level real-time motion data collection of the robot, and collected real-time motion data include an encoder value and a torque value. The invention further discloses a method for identifying the kinetic parameters of the terminal loads of the six-degree-of-freedom robot. According to the device and the method, data sampling is performed by adopting an optimized excited track, a kinetic model is established according to a Lagrange equation, and identification parameters are solved by adopting a weighted least square method; a sensing system adopts the efficient real-time control system, the millisecond level real-time data collection of the robot including displacement, motor output and the like can be realized, the data collection quantity can be extended, the characteristic of variability is provided, and the identification of the kinetic parameters of the terminal loads of the industrial robot is satisfied.
Description
technical field [0001] The present invention relates to a method applied to the identification of end load dynamic parameters and a six-degree-of-freedom industrial robot device, which not only involves the improvement of the mechanical structure, but also involves the innovation of the algorithm and the high-efficiency sensing system. testing methods and tools. Background technique [0002] Today, there are many testing devices for robot dynamic parameter identification. Including four-degree-of-freedom and six-degree-of-freedom industrial robots. Both the simulation and control of industrial robots require an accurate dynamic model of the robot. At present, many light-weight and high-performance robots widely use relatively flexible harmonic drives to drive joint motion, and the joint flexibility cannot be ignored. Therefore, a better parameter identification method is needed to establish an accurate flexible joint robot dynamic model. [0003] For industrial robots, u...
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