Method for improving identification precision of kinetic parameters of modularized robot joint

A technology of robot joints and dynamic parameters, applied in instruments, control/adjustment systems, adaptive control, etc., can solve the problems of inaccurate parameter identification and measurement, measurement accuracy dependent on motor performance, inaccuracy, etc., and achieve a small amount of calculation Effect

Inactive Publication Date: 2018-04-20
NANJING INST OF TECH
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  • Application Information

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Problems solved by technology

[0006] The purpose of the present invention is to provide a method for improving the identification accuracy of modular robot joint dynamic parameters to solve the joint torque value in the prior art, which is usually obtained indirectly by detecting the motor current. The measurement accuracy depends on the performance of the motor, which is obviously inaccurate, resulting in The problem of inaccurate measurement of existing parameter identification

Method used

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  • Method for improving identification precision of kinetic parameters of modularized robot joint
  • Method for improving identification precision of kinetic parameters of modularized robot joint
  • Method for improving identification precision of kinetic parameters of modularized robot joint

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Embodiment 1

[0053] A method for improving the identification accuracy of modular robot joint dynamic parameters by a modular robot joint dynamic parameter identification accuracy improvement device, such as figure 2 , including the following steps,

[0054] S1. The Newton-Euler method is used for dynamic modeling. Step S1 specifically includes:

[0055] S11. Set the coordinate system, and establish the joint dynamics model according to the Newton-Euler formula:

[0056]

[0057] In the formula, F represents the force on the center of mass, m represents the mass of the rigid body, represents the acceleration, I represents the inertia tensor of the rigid body in the coordinate system, ω represents the angular velocity of the rigid body’s rotation, Indicates the angular acceleration of the rigid body rotation.

[0058] S12. Simplify the derivation of the above formula to obtain the general equivalent form of the joint dynamics equation:

[0059]

[0060] S13. Rewrite the linear...

Embodiment 2

[0077] A method for improving the identification accuracy of a modular robot joint dynamic parameter identification accuracy of a modular robot joint dynamic parameter identification accuracy improvement device, specifically comprising the following steps,

[0078] S1. Establish the stiffness identification equation according to the principle of torsion spring:

[0079] τ=K·Δq=K(q-q 0 )

[0080] Among them, Δq represents the amount of torsion angle deformation, q represents the joint angle value, and q 0 Indicates the motor end angle value.

[0081] S2. Apply the improved Fourier series excitation trajectory to the device for improving the identification accuracy of the joint dynamic parameters of the modular robot; the excitation trajectory function in step S2 is:

[0082]

[0083] Among them, t f = 2π / ω f , j=INT(t / t f ), q(0)=q init ,q(t f )=q init ,

[0084] In the formula, i represents the number of i-th joints, t represents time, m is an integer, ω f Repr...

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Abstract

The invention provides a method for improving the identification precision of kinetic parameters of a modularized robot joint, and the method comprises the steps: carrying out the kinetic modeling through a Newton-Euler method, and enabling an improved Fourier series motivation track to be applied to a device for improving the identification precision of the kinetic parameters of the modularized robot joint; collecting an angle value, an angular speed value and a moment value through a sensor unit; carrying out the differential operation through the angular speed measured by a tachometer, obtaining an angular acceleration value, and carrying out the preliminary processing of information; carrying out the parameter estimation, and substituting parameters into a kinetic equation for estimating the kinetic parameters. The method employs the multi-sensor fusion technology, achieves the direct real-time measurement of the angles of a joint end and a motor end through two absolute coders, and improves the safety of a device. The mode of direct measurement reduces the calculation burden of a control unit, thereby facilitating the implementation of the real-time control, solving problems of interference and error increase caused by the indirect measurement, and improves the parameter recognition precision.

Description

technical field [0001] The invention relates to a method for improving the identification accuracy of joint dynamic parameters of a modular robot. Background technique [0002] Robots are playing an increasingly important role in current production and life, especially modular robots with strong versatility. A modular robot is a robot that is based on modular joints, connecting rods and standard electrical interfaces, and can automatically or artificially change its configuration according to the environment and task needs. Due to the variable configuration of the modular robot, the uncertainty of the robot is increased, and the traditional control method does not meet the requirements of the current robot trajectory tracking. To improve the performance of the robot, it is necessary to establish a method that considers the robot’s precise joint dynamics model. In this case In this situation, the identification of robot joint parameters is particularly important, but the acc...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 朱松青高海涛李永周英路赵振栋张猛
Owner NANJING INST OF TECH
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