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Industrial robot load kinetic parameter identification method based on specific joint motion

A dynamic parameter, industrial robot technology, applied in special data processing applications, instruments, electrical digital data processing, etc., can solve the problem of difficult to obtain dynamic design parameters accurately, and achieve the effect of short time

Inactive Publication Date: 2017-08-04
ROKAE SHANDONG INTELLIGENT TECH CO LTD
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Problems solved by technology

[0005] Due to the existence of processing deviations, there may be large deviations between the dynamic parameters such as the center of gravity of the load structure and the moment of inertia and the actual values, especially for tool loads with complex configurations, the dynamic design parameters are often difficult to obtain accurately

Method used

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  • Industrial robot load kinetic parameter identification method based on specific joint motion
  • Industrial robot load kinetic parameter identification method based on specific joint motion
  • Industrial robot load kinetic parameter identification method based on specific joint motion

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Embodiment Construction

[0045] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0046] like figure 2As shown, the method for identifying load dynamic parameters of an industrial robot based on specific joint motion in the embodiment of the present invention includes the following steps:

[0047] Step S1, establishing the load dynamics parameter model of the industrial robot, wherein the parameter model is:

[0048]

[0049] Among them, τ link is the joint driving force when the robot body moves, τ linkload is the joint driving force when there is a tool load.

[0050] Especially when the s...

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Abstract

The invention provides an industrial robot load kinetic parameter identification method based on specific joint motion. The method comprises the steps that an industrial robot load kinetic parameter model is set up; a gravity identification track and an inertia identification track are designed according to the industrial robot load kinetic parameter model; load identification motion data gravity identification motion and inertia identification motion are collected and processed according to the gravity identification track and the inertia identification track, and load kinetic parameters can be obtained through motion process joint motion parameters and driving torque parameters. Load weight, the mass center position and rotational inertia parameters can be independently obtained without depending on the kinetic parameters of a robot body through the specially designed joint motion, and the method can be applied to high-performance control of the robot based on the model.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a method for identifying load dynamic parameters of industrial robots based on specific joint motion. Background technique [0002] Industrial robots have become an indispensable tool to improve production efficiency and production line flexibility in the process of industrial automation. With the expansion of quality standards and application scenarios, higher and higher requirements are placed on the performance of industrial robots. Moving speed and precision are two main indicators to measure robot performance, and the important factors affecting these two main indicators are complex robot dynamics. The influence of dynamic characteristics on the robot can be described by a dynamic model. The dynamic model establishes the relationship between joint driving force and motion. The more accurate the relationship is, the easier it is to accurately control the robot's ki...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50
CPCG06F30/17G06F30/20
Inventor 于文进刘文礼曹华庹华汤中华
Owner ROKAE SHANDONG INTELLIGENT TECH CO LTD
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