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Six-degree-of-freedom robot dynamics parameter identification method and system

A technology of dynamic parameters and identification methods, applied in the field of dynamic parameter identification methods and systems of six-degree-of-freedom robots, can solve problems such as large noise and affecting the accuracy of identification results, and achieve reduced impact, simple process, and reduced calculation volume effect

Active Publication Date: 2019-01-22
BEIJING INST OF RADIO MEASUREMENT
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Problems solved by technology

As for the joint angular acceleration, it is generally impossible to obtain it through direct measurement, and the estimated value of the angular acceleration can only be obtained by twice differencing the joint angle. In practical applications, a lot of noise will be introduced, which will affect the accuracy of the identification results.

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  • Six-degree-of-freedom robot dynamics parameter identification method and system

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Embodiment Construction

[0022] In order to make the technical solutions and advantages of the embodiments of the present application clearer, the exemplary embodiments of the present application are described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, and Not all examples are exhaustive. It should be noted that the embodiments in the application and the features in the embodiments can be combined with each other if there is no conflict.

[0023] The core idea of ​​this scheme is that the method starts from the energy principle and derives a power-based parameter identification model to realize the identification of robot dynamic parameters. The derivation process of this method is simple and intuitive, the calculation amount is obviously reduced, and the joint angular acceleration is not required to be calculated, which reduces the influence of noise on the identification results...

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Abstract

An embodiment of the invention provides a six-degree-of-freedom robot dynamics parameter identification method and system. The method includes the steps: acquiring a power model of a six-degree-of-freedom robot based on an energy conservation equation of the six-degree-of-freedom robot constructed by the aid of energy principle; acquiring motion data of predetermined periodic excitation tracks traced by the six-degree-of-freedom robot; calculating estimated values of dynamics parameters of the six-degree-of-freedom robot by the aid of the power model and the motion data. The method starts fromthe energy principle, a parameter identification model based on power is derived, processes are simple and visual, iteration calculation can be achieved, calculated amount is obviously decreased, theaccelerated speed of a joint angle is omitted, the influence of noise on an identification result is reduced, and the dynamics parameters (including inertial parameters, joint friction moment, jointoffset moment and the like) of the six-degree-of-freedom robot can be identified.

Description

Technical field [0001] This application relates to the field of robot dynamics, in particular to a method and system for identifying dynamic parameters of a six-degree-of-freedom robot. Background technique [0002] The six-degree-of-freedom serial industrial robot has the characteristics of high nonlinearity and coupling. Dynamic-based control to improve its motion performance has always been the focus of research in the field of robot control. Obtaining precise dynamic parameters and establishing a dynamic model are the keys to the control and simulation of its robot. Due to the complexity of the robot mechanism, it is impossible to accurately model each part in the design stage, and it is impossible to obtain precise dynamic parameters through direct measurement after assembly. Therefore, the dynamic identification experiment on the robot is an effective method to obtain the accurate estimation value of its dynamic parameters. [0003] In most applications, the commonly used ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1653
Inventor 高景一韩华涛吴磊李冬伍魏彦彪
Owner BEIJING INST OF RADIO MEASUREMENT
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