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System and method for analyzing and controlling coupled dynamic characteristics of robot

A dynamic characteristic and robotic technology, applied in the field of robotics, can solve problems such as error-prone, error, and error

Active Publication Date: 2017-05-10
ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] Aiming at the deficiencies in the prior art, the present invention provides a system and method that can be used for the analysis and control of robot coupling dynamic characteristics, which can consider the electromechanical coupling factors of the drive system and the rigid-flexible coupling factors of the transmission system, to solve the error or even error problem caused by ignoring the coupling factors of the system during the dynamic characteristic analysis. Error-prone problems that are computationally solved

Method used

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  • System and method for analyzing and controlling coupled dynamic characteristics of robot
  • System and method for analyzing and controlling coupled dynamic characteristics of robot
  • System and method for analyzing and controlling coupled dynamic characteristics of robot

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Embodiment 1

[0118] like Figure 4 As shown, the embodiment of the present invention takes a four-degree-of-freedom articulated robot as an example to describe the system and method for analysis and control of robot coupling dynamic characteristics of the present invention.

[0119] In this embodiment, the drive system of the selected four-degree-of-freedom articulated robot is driven by the motor 1, and the electromagnetic parameters of the drive system interact with the mechanical parameters to form the electromechanical coupling of the system. Transmission system 2 adopts gears or other transmission joints, and rigid-flexible coupling exists in the transmission process. The end articulated arm 3-1 of the actuator 3 is fixed with the end effector 4, and the end effector 4 is used to grab the load 8, and the end articulated arm 3-1 generates elasticity during the operation or during the motion conversion process and sudden stop Vibration affects the operation accuracy and stability of th...

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Abstract

The invention provides a system and method for analyzing and controlling coupled dynamic characteristics of a robot. The analysis and control system comprises a computer, wherein a modeling module B1 and an analysis module B2 are arranged in a computer C; and a signal analysis system B5, a detection module B4 and a control module B3 are arranged between the computer C and the robot. According to the method, coupling factors existing in the robot system can be considered, the analysis result precision of the dynamic characteristics is high, and the problems of errors, even mistakes, caused by neglecting of the coupling factors can be effectively solved. Meanwhile, feedback control of the coupled dynamic characteristics of the system can be realized, and comprehensive analysis and integrated design of the robot system can be facilitated. The system disclosed by the invention is based on system modularization and is easy to realize and simple in operation, the complicated theoretical modeling calculation process is avoided, the analysis difficulty is reduced, and the problem that errors are easily caused due to lots of calculations and solutions can be effectively solved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a system and method for analysis and control of robot coupling dynamic characteristics. Background technique [0002] Industrial robots are widely used in machining, loading and unloading, spraying and other operations. During the operation, the robot system needs to maintain good dynamic performance and operation accuracy. At present, the degree of integration of the robot system is getting higher and higher, which will inevitably increase the coupling between the system components (such as the drive unit, sensor unit, control unit, transmission mechanism and actuator of the system). For high-power heavy-duty robots, the coupling effect among the drive unit, transmission mechanism and actuator of the system, especially the electromechanical coupling factors of the drive system, has a more obvious influence on the dynamic characteristics of the system. When performing high-speed ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1664
Inventor 刘玉飞訾斌许德章钱森张席汪步云于华
Owner ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE
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