Industrial robot torque compensation control method based on load adaptive identification

Abstract

The invention discloses an industrial robot torque compensation control method based on load adaptive identification. The industrial robot torque compensation control method comprises the steps that according to robot overall stress balance analysis, a robot dynamics model under the load working condition is established in a deduced mode through a Newton-Euler method on the basis of considering friction; the optimal excitation trajectory of robot load identification is solved; load inertial parameters are calculated; and on the basis of load inertia matching, joint driving torque consumed by the load when a robot moves under the load working condition is compensated, and further verification and optimization are conducted through experiments. According to the industrial robot torque compensation control method, the influences of the load on operation performance of the robot are considered, under the premise that no any external sensor is needed, adaptive identification of any load andtorque compensation control are completed through easy operation easy to achieve, the control precision of the robot under the load working condition is effectively improved, and very important significance for processes such as carrying and friction stir welding of the industrial robot under high-speed and large-load movement is achieved.

Description

technical field [0001] The invention relates to dynamic model identification and feedforward control of industrial robots, in particular to a torque compensation control method for industrial robots based on load adaptive identification. Background technique [0002] It is a difficult point in the field of industrial robot research and application to reduce the quality of the robot body and improve the load capacity while ensuring the control accuracy of the robot. Most of the industrial robots on the existing market only set the controller and parameter setting in consideration of the robot’s no-load model, and when the actual load is added to the end of the robot, the control performance will decline to varying degrees, especially for heavy-duty robots. The problem is even more prominent for robotic applications. In order to meet the typical capacity requirements of heavy-duty robots such as high speed, high precision, and high load, the impact of load on robot control pe...

AI Technical Summary

Problems solved by technology

In terms of control methods, this method uses a torque compensation control module based on load inertia matching in the traditional PID control system, without modifying the structure of the traditional PID control system, and solves the problem of lower control accuracy caused by adding loads at the end of the robot. Improving the control accuracy of the robot under load conditions

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