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A dynamic parameter identification method for industrial robots considering joint elasticity

A dynamic parameter, industrial robot technology, applied in the fields of instruments, electrical digital data processing, special data processing applications, etc., can solve the problem of lack of effective solutions for identifying dynamic parameters, and achieve high-precision results

Active Publication Date: 2020-07-03
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] To sum up, there is still no effective solution to the problem of how to identify the dynamic parameters of a general industrial robot with only a single encoder in consideration of joint elasticity.

Method used

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  • A dynamic parameter identification method for industrial robots considering joint elasticity
  • A dynamic parameter identification method for industrial robots considering joint elasticity
  • A dynamic parameter identification method for industrial robots considering joint elasticity

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Embodiment Construction

[0082] It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0083] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinations thereof.

[0084] As introduced in the background technology, there are deficiencies in the prior art. In order to solve th...

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Abstract

The invention discloses an industrial robot dynamic parameter identification method considering joint elasticity. The problem that in the prior art, each joint needs to be provided with double encoders to achieve identification is solved. the beneficial effect of accurately identifying the dynamic parameters is achieved; According to the scheme, the industrial robot dynamic parameter identification method considering the joint elasticity comprises the steps of analyzing and classifying unknown parameters, establishing a linear identification model considering the friction coefficient of a motor, combining a static test to realize respective identification of the unknown parameters, and utilizing a separation identification strategy and an approximate processing method to accurately identify the dynamic parameters.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a method for identifying dynamic parameters of an industrial robot considering joint elasticity. Background technique [0002] With the application of industrial robots in modern production fields, many advanced motion control methods based on torque input are used to meet high speed and high precision requirements. This requires a complete and accurate model of the robot dynamics. At the same time, the dynamic model is also the basis of robot feature analysis, but the parameters in the dynamic model are often not easy to obtain. In addition, the parameters obtained from the CAD model are not precise due to production and assembly errors. [0003] Rigid body dynamics model is widely used to describe robots, and many parameter identification methods are proposed based on it. In rigid body parameter identification, motor encoders are used to collect joint positions. The robot i...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F30/20G06F30/17G06F119/14
CPCG06F30/20
Inventor 张承瑞王腾倪鹤鹏胡天亮
Owner SHANDONG UNIV
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