Robot joint friction force identification method based on LuGre friction model

A technology of robot joints and friction models, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as vibration stability, aging and impact of robot joints, and achieve the effect of improving performance

Active Publication Date: 2019-03-19
SOUTH CHINA UNIV OF TECH
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Problems solved by technology

The friction phenomenon will cause the servo system to crawl, oscillate or steady-state error, which will have a negative impact on the robot's motion sta

Method used

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  • Robot joint friction force identification method based on LuGre friction model
  • Robot joint friction force identification method based on LuGre friction model
  • Robot joint friction force identification method based on LuGre friction model

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Embodiment Construction

[0052] Further description will be made below in conjunction with specific embodiments.

[0053] A SCARA robot joint friction identification method based on LuGre friction model, comprising the following steps:

[0054] S1, determine the parameter value of the sinusoidal excitation curve according to the robot motion space used;

[0055] S2, use the LuGre friction model to model the friction force of the robot joints, and use the sinusoidal excitation curve to sequentially excite the robot joints to obtain the robot joint friction-velocity mapping relationship;

[0056] S3, at each stage of the friction phenomenon, identify LuGre friction model parameters according to the robot joint friction-velocity mapping relationship.

[0057] Specifically, the mathematical model of the LuGre model is shown in the following formula:

[0058]

[0059] Among them, z is the deformation of the mane, F is the joint friction force, σ 0 is the bristle stiffness, σ 1 is the bristle damping...

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Abstract

The invention discloses an SCARA robot joint friction force identification method based on a LuGre friction model. The SCARA robot joint friction force identification method comprises the following steps that S1, robot joint friction force is modeled through the LuGre friction model, a sinusoidal excitation curve is utilized to sequentially excite robot joints, and thus a robot joint friction force-speed mapping relation is obtained; and S2, in all stages of the friction phenomenon, LuGre friction model parameters are identified according to the robot joint friction force-speed mapping relation. The SCARA robot joint friction force identification method is simple and effective and can be used for a robot with the limited movement space, and the great significance for improving the performance of the robot is achieved.

Description

technical field [0001] The invention belongs to the field of robot control, and mainly relates to a method for identifying friction force of robot joints based on a LuGre friction model. An identification method of robot joint friction force based on LuGre model. Background technique [0002] Inside the robot joints, there are complex friction phenomena between gears, bearings and other transmission structures, including rolling friction and sliding friction. The friction phenomenon will cause the servo system to crawl, oscillate or steady-state error, which will have a negative impact on the robot's motion stability and control accuracy. On the other hand, wear and heat caused by friction phenomena are the main factors leading to aging and damage of robot joints. Modeling and identification of robot joint friction is of great significance to improve the performance of the robot. Contents of the invention [0003] The purpose of the present invention is to overcome the ...

Claims

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Application Information

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IPC IPC(8): B25J19/00B25J9/16
CPCB25J9/1605B25J19/0066
Inventor 李琳林燕龙邹焱飚
Owner SOUTH CHINA UNIV OF TECH
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