Dynamic parameter self-calibration method for heavy-load robot in application filed of fricition stir welding
A dynamic parameter, friction stir welding technology, applied in the direction of instrument, adaptive control, general control system, etc., can solve the problem of difficult to obtain accurate robot dynamic model
Active Publication Date: 2018-02-16
SOUTHEAST UNIV
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[0004] Purpose of the invention: In order to overcome the existing technical defects and solve the problem that the accurate robot dynamic model is difficult to obtain in the existing model-based control method, a self-calibration method for the dynamic parameters of heavy-duty robots oriented to friction stir welding applications is based on The robot control method design of the dynamic model provides an accurate dynamic model, thereby improving the control accuracy and motion stability of the robot
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[0097] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
[0098] like figure 1 As shown, a self-calibration method for dynamic parameters of a heavy-duty robot for friction stir welding applications, including the following steps:
[0099] (1) Dynamic modeling
[0100] Firstly, according to the force analysis of a single member, obtain the force and moment formulas acting on each member relative to the coordinate system at the head end of the member; secondly, consider the influence of robot joint friction, and establish a robot joint friction model; then through the Newton-European Lafa iteratively calculates the expected output torque model of each joint of the robot; finally, the linearized dynamic model of the robot with respect to the basic dynamic parameters is obtained through model transformation and dynamic parameter reorganization of the robot dynamic model. Spec...
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The invention discloses a dynamic parameter self-calibration method for a heavy-load robot in the application filed of fricition stir welding. The method comprises the steps of establishing a dynamicsmodel of the robot; solving the parameter calibration optimal excitation trajectory of the robot; sampling the joint angle and the motor current value of the robot and carrying out the filtering pretreatment; carrying out the parameter self-calibration, and further verifying and optimizing through experiments. The method provided by the invention can provide a more accurate dynamic model for thedesign of the robot control method based on the dynamics model. Meanwhile, no additional external sensor is required during the self-calibration of the dynamics parameters of the robot. The method issimple and easy to implement, and can be integrated in a controller. The high-precision on-line self-calibration of the dynamics parameters of the robot is realized. The method has an important role in improving the control precision and the performance of the robot during the production process of fricition stir welding. Moreover, the method has a very important economic value and a good application prospect.
Description
technical field [0001] The invention relates to a method for calibrating industrial robot parameters, in particular to a method for self-calibrating dynamic parameters of a heavy-duty robot oriented to friction stir welding applications. Background technique [0002] With the wide application of high-speed and heavy-duty industrial robots in aviation manufacturing, automobile manufacturing and other industries facing friction stir welding applications, the requirements for robot motion stability and control accuracy are getting higher and higher. When the heavy-duty robot is performing friction stir welding operations, due to the need to provide a large end down force, the robot itself has vibration and elastic deformation. When using the traditional proportional-integral-derivative (PID) control method, because the robot does not consider It is difficult to achieve high performance and control precision because of its dynamic characteristics. The control method based on th...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 周波姚祥孟正大马旭东
Owner SOUTHEAST UNIV