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Dynamical model parameter identification method, device, computer equipment and storage medium

A dynamic model and dynamic parameter technology, applied in the field of robotics, can solve problems affecting the accuracy of dynamic parameter identification, parameter identification error, etc.

Active Publication Date: 2018-02-16
GUANGZHOU SHIYUAN ELECTRONICS CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] However, when the unknown dynamic parameters of the dynamic model are identified according to the above scheme, the influence of the joint friction force and the inertial force of the motor itself on the accuracy of the built dynamic model is often not considered, which leads to the error of parameter identification; in addition, The position information, speed information and torque information obtained by the drive measurement often include noise data generated during the measurement process, which will also affect the accuracy of dynamic parameter identification

Method used

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  • Dynamical model parameter identification method, device, computer equipment and storage medium
  • Dynamical model parameter identification method, device, computer equipment and storage medium
  • Dynamical model parameter identification method, device, computer equipment and storage medium

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Embodiment 1

[0029] figure 2 It is a schematic flow chart of a dynamic model parameter identification method provided in Embodiment 1 of the present invention. This method is suitable for identifying unknown kinetic parameters in a kinetic model, and the method can be executed by a dynamic model parameter identification device. The device can be implemented by software and / or hardware, and is generally integrated on a computer device electrically connected to the robot, preferably, can be integrated on a host computer electrically connected to the robot.

[0030] It should be noted that this embodiment is equivalent to an improvement on the existing parameter identification technology, and mainly lies in the improved processing of the measured information data after the position or velocity information and torque information of the joints of the manipulator are obtained through measurement. Therefore, the accuracy of dynamic parameter identification is improved, and then the control perfo...

Embodiment 2

[0044] Figure 3a It is a schematic flowchart of a dynamic model parameter identification method provided by Embodiment 2 of the present invention. The second embodiment is optimized on the basis of the above-mentioned embodiments. In this embodiment, each joint angle value and each torque data will be filtered respectively to obtain the joint angle value at the current sampling time. The target state data and the target torque data are further optimized as follows: using the set Kalman filter strategy to process each of the joint angle values ​​to determine the target state data corresponding to each of the joints at the current sampling moment; using the set low Each of the torque data is processed through a filtering strategy to determine the target torque data corresponding to each of the joints at the current sampling moment.

[0045] On the basis of the above optimization, this embodiment further optimizes the dynamic model according to each of the target state data and...

Embodiment 3

[0088] Figure 4 It is a structural block diagram of a dynamic model parameter identification device provided in Embodiment 3 of the present invention. The device is suitable for identifying unknown dynamic parameters in the dynamic model, wherein the device can be realized by software and / or hardware, and is generally integrated with a computer device electrically connected to the robot, preferably, it can be integrated with the robot Electrically connected host computer. Such as Figure 4 As shown, the device includes: a measurement data acquisition module 31 , a data filtering processing module 32 and an unknown parameter identification module 33 .

[0089] Wherein, the measurement data acquisition module 31 is used to acquire joint angle values ​​and moment data measured at the current sampling moment when each joint of the mechanical arm moves along the set excitation trajectory;

[0090] A data filtering processing module 32, configured to perform filtering processing...

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Abstract

The invention discloses a dynamical model parameter identification method, a device, computer equipment and a storage medium. The method comprises the steps of acquiring a joint angle value and momentdata which are measured at the current sampling time when each joint of a manipulator moves along a preset excitation track; filtering the angle value and the moment data of each joint, thereby obtaining objective state data and objective moment data of each joint at the current sampling time; optimizing the dynamical model according to each objective state data and the objective moment data, andidentifying an unknown dynamical parameter in the dynamical model. The dynamical model parameter identification method has advantages of effectively acquiring high-precision objective state data andobjective moment data which correspond with the joint of the manipulator, realizing precision optimization of the constructed dynamical model according to the high-precision objective data and the moment data, realizing high-precision identification of the unknown dynamical parameter, improving accuracy of the dynamical model and furthermore improving control performance of the dynamical model incontrolling a robot.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a dynamic model parameter identification method, device, computer equipment and storage medium. Background technique [0002] Dynamics-based control can effectively improve the control performance of the robot. When using a dynamics model-based control algorithm for a robot, the accuracy of the dynamics model must first be ensured. The accuracy of the dynamics model depends on geometric parameters and dynamics parameters. , the geometric parameters can be obtained through kinematic calibration, and the dynamic parameters need to be estimated through the method of dynamic model identification. [0003] At present, the dynamic parameter identification of industrial robots usually adopts the overall identification scheme based on the dynamic model. The process can be described as follows: firstly, the minimum set of dynamic parameters is constructed to form a dynamic model, and then ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 阳方平
Owner GUANGZHOU SHIYUAN ELECTRONICS CO LTD