Parameter identification method for load dynamics of industrial robot independent of body dynamic parameter

A technology of dynamic parameters and industrial robots, applied in the direction of electrical digital data processing, instruments, special data processing applications, etc., can solve the problems of rotational inertia deviation and dynamic design parameters that are difficult to obtain accurately, and achieve reduced complexity and short time Effect

Inactive Publication Date: 2017-11-24
ROKAE SHANDONG INTELLIGENT TECH CO LTD
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Problems solved by technology

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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  • Parameter identification method for load dynamics of industrial robot independent of body dynamic parameter
  • Parameter identification method for load dynamics of industrial robot independent of body dynamic parameter
  • Parameter identification method for load dynamics of industrial robot independent of body dynamic parameter

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Embodiment Construction

[0066] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate 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.

[0067] Such as figure 2 As shown, the method for identifying load dynamic parameters of an industrial robot that does not depend on body dynamic parameters in the embodiment of the present invention includes the following steps:

[0068] Step S1, establish the robot body and load dynamic parameter model, wherein, establish the industrial robot load dynamic parameter model, as follows:

[0069]

[0070] Among them, τ link is the joint driving force when the robot body moves, τ linkload is the joint driving force when there ...

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Abstract

The invention discloses a parameter identification method for loan dynamics of industrial robot independent of body dynamic parameter, which includes building the body of a robot and a parameter model of load dynamics, calculating a motion excitation trajectory identified by the parameter of load dynamics, carrying out the motion identified by the load in accordance with the motion excitation trajectory, collecting motion data during the motion, establishing the body of the robot and the parameter model of load dynamics in accordance with the step S1 and the motion data collected in the step S3, dealing with the parameter of loan dynamics by hr, estimating the parameter of load dynamics. The parameter identification method for load dynamics of industrial robot independent of body dynamic parameter constructs linear models of the torque in the drive of robot's joint and the parameter of load dynamics, while reducing the complexity of identifying and calculating the parameter of load dynamics.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a load dynamic parameter identification method of an industrial robot independent of body dynamic parameters. Background technique [0002] With the continuous expansion of industrial robot application scenarios, application tasks have put forward higher and higher requirements for the performance of industrial robots. The dynamic characteristics of the robot are an important factor affecting its motion speed and control accuracy. The influence of the dynamic characteristics on the robot can be described by the dynamic model. The dynamic model establishes the relationship between the joint driving force and the movement. The more accurate the relationship is, the The kinematic characteristics of the robot are easier to control accurately. Therefore, it is an important technical way to improve the motion speed and tracking accuracy of industrial robots by comprehensivel...

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 庹华于文进袁顺宁韩建欢韩峰涛
Owner ROKAE SHANDONG INTELLIGENT TECH CO LTD
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