Robot joint friction torque compensation method and system

Abstract

The invention discloses a robot joint friction torque compensation method and system. Through the compensation method and system, in the industrial robot operating process, after such parameters as joint temperature, load, lubrication and wear are changed, a friction model can be correspondingly changed, so that the failure problem of a feedforward compensation method based on a fixed friction model can be prevented. On the basis, the identified friction model is used for predicting a generated friction torque training neural network, so that the training learning process efficiency of the neural network is higher, the ideal effect can be quickly achieved, and the robot joint tracking speed and tracking precision are improved. Further, the friction torque feedforward compensation is performed through Gaussian sampling to make up the defect of no exploration in neutral network outputting, so that the neural network can preferably restrain to prevent local optimum, the tracking precisionis further guaranteed, and even if such parameters as joint temperature, load, lubrication and wear are changed, the purpose of high-precision tracking can be quickly achieved.

Description

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AI Technical Summary

Benefits of technology

This patented technology helps improve robots' performance during operations involving frictional forces between parts like gears or bearings. By identifying specific models from these movements, it becomes possible to predict how well they are doing without relying solely upon their own characteristics. These predictions help prevent failures caused by factors like changes over time due to aging or external influences (such as vibrations). Additionally, the algorithm learns from past experience and adjust its weight values gradually until reaching an optimal level. Overall, this innovative technique enhances the functionality and efficiency of robotic systems while maintaining accurate trackability across different operating conditions.

Problems solved by technology

The technical problem addressed by this patented technology relates to reducing the effects caused by frictional forces between components used for movement within an industry machine (such as robotic arms). Specifically, it addresses how to accurately track movements made with these machines without losing their precision or causing damage from excessive heating or wearing down parts over time.

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