Kalman estimation method of joint torque of SCARA robot
A technology of robot joints and joint torques, which is applied in manipulators, program-controlled manipulators, manufacturing tools, etc., and can solve problems that affect the realization of control algorithms and the real-time performance of filtering methods cannot be guaranteed.
Active Publication Date: 2017-11-17
SOUTH CHINA UNIV OF TECH
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However, the real-time performance of some filtering methods cannot be guaranteed, which affects the realization of the control algorithm.
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[0060] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
[0061] A kind of Kalman estimation method of SCARA robot joint moment, comprises the following steps:
[0062] Step 1: Establish the dynamic model of the SCARA robot according to the Newton Euler method, and obtain the continuous nonlinear torque expression of each joint;
[0063] Step 2: Transform the continuous nonlinear joint moment expression into a recursive linear discrete joint moment expression by using the first-order Taylor expansion formula of the multivariate function;
[0064] Step 3: Take the linearly discretized expression of each joint torque as the process equation, and add the corresponding measurement equation, and combine the process equation and measurement equation into a discrete-time state-space model of each joint torque;
[0065] Step 4: According to the basic Kalman filter method, combined with the discrete-time stat...
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The invention discloses a Kalman estimation method of joint torque of an SCARA robot. The Kalman estimation method comprises the following steps: Step 1, acquiring a continuous nonlinearity torque expression of all joints; Step 2, utilizing the first-order Taylor expansion formula of a multivariate function to obtain a recursive linear discrete joint torque expression; Step 3, taking the linear discretized joint torque expression as a process equation, adding a corresponding measurement equation, and combining and arranging the process equation and the measurement equation into a discrete time state space model of the joint torque; and Step 4, determining a formula used in a stepping cycle by combining the discrete time state space model of the joint torque and according to the basic Kalman filtering method, and estimating the joint torque of the SCARA robot in real time by utilizing a read joint motor current signal and a motor encoder signal. According to the Kalman estimation method, the estimation precision of the joint torque is improved without using a sensor to provide reliable information for a robot control algorithm.
Description
technical field [0001] The invention relates to a method for estimating joint torque of a SCARA robot, in particular to a method for improving the estimation accuracy of joint torque based on a Kalman filter method and using a motor current signal with noise as basic information without using a torque sensor. Background technique [0002] The realization of high-speed and high-precision characteristics of SCARA robot depends on effective control algorithm, and the control algorithm has high requirements on the accuracy of control information such as joint torque. At present, there are two commonly used acquisition methods for joint torque, which are acquired through torque sensors or converted through joint motor current. [0003] 1) Obtain the joint torque through the torque sensor. The main problems of this method are high cost and difficult installation and maintenance. Especially for some finished robots, if the installation of sensors at the joints is not considered i...
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IPC IPC(8): B25J9/16
CPCB25J9/1633
Inventor 张铁梁骁翃
Owner SOUTH CHINA UNIV OF TECH