Dynamic parameter identification based PTP (peer to peer) acceleration optimization method and device

A technology of dynamic parameters and optimization methods, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of reducer impact, damaged reducer, unfavorable trajectory tracking control, etc., and achieve the effect of improving accuracy

Inactive Publication Date: 2018-11-27
WUXI XINJIE ELECTRICAL
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Problems solved by technology

[0005] 1. Large position deviation at high speed and high torque;
[0006] 2. The joints are prone to vibration during emergency stop;
[0008] The above problems will cause a great impact on the reducer, or even damage the reducer, and it is not conducive to high-speed and high-precision trajectory tracking control

Method used

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  • Dynamic parameter identification based PTP (peer to peer) acceleration optimization method and device
  • Dynamic parameter identification based PTP (peer to peer) acceleration optimization method and device
  • Dynamic parameter identification based PTP (peer to peer) acceleration optimization method and device

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[0056] The preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.

[0057] SCARA robot structure such as Figure 5 shown.

[0058] Such as figure 1 and Figure 6 As shown, a PTP acceleration optimization method based on dynamic parameter identification includes:

[0059] S101: Establish a simplified SCARA robot joint dynamics model;

[0060] According to the structure of SCARA robot, a simplified dynamic model of two joints of SCARA robot is established by Lagrange method;

[0061] The dynamic equation of the robot system with n joints is:

[0062]

[0063] In the formula, q is the rotation angle vector, and its 1st and 2nd derivatives are the angular velocity and angular acceleration vectors respectively, D(q) is the n-or...

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Abstract

The invention discloses a dynamic parameter identification based PTP (peer to peer) acceleration optimization method and device. The method includes: establishing a simplified joint dynamic model of aSCARA (selective compliance assembly robot arm) robot; acquiring an improved friction model and rotor inertia and adding the improved friction model and the rotor inertia into the joint dynamic modelto obtain an improved dynamic model; performing parameter identification on the improved dynamic model to obtain a dynamic model; setting limiting conditions to determine a PTP trajectory planning algorithm of the SCARA robot to obtain PTP motion trajectories of the SCARA robot; substituting the PTP trajectories into the dynamic model for driving torque calculation to obtain predicted peak moments; comparing torques of the predicted peak moments with permissible peak torques of a harmonic reducer to optimize PTP acceleration and ensure that PTP motion driving moments not to excess instantaneous permissible peak torques of the reducer and to be the optimal. The improved friction model and rotor inertia are added in the dynamic model of the robot to obtain the completely improved dynamic model, and precision in parameter identification and accuracy in torque predication are improved.

Description

technical field [0001] The invention relates to the field of dynamic control optimization of a SCARA robot, in particular to a PTP acceleration optimization based on dynamic parameter identification and a device. Background technique [0002] At present, with the continuous development of the intelligent manufacturing industry, robots have increasingly become an irreplaceable tool in manufacturing. Robot dynamics studies the complex relationship between joint drive torque and robot motion, so how to obtain an accurate dynamic model is critical for the simulation research of robots, the analysis of robot mechanical structure torque, and torque compensation control. Therefore, the identification of robot dynamic parameters has become a research hotspot. [0003] The dynamic effects of the robot include inertial force, Gothic force, centrifugal force, gravity and friction, etc. Generally, dynamic parameters can be determined through simulation analysis and experiment. Mechanic...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/16
Inventor 林建雄白瑞林王延玉李新
Owner WUXI XINJIE ELECTRICAL
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