SCARA robot dynamic parameter identification method based on maximum likelihood estimation

A technology of maximum likelihood estimation and dynamic parameters, which is applied to instruments, adaptive control, control/regulation systems, etc. It can solve problems such as low accuracy, achieve high-precision identification, improve signal-to-noise ratio, and simple operation.

Inactive Publication Date: 2019-07-26
杭州亿恒科技有限公司
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Problems solved by technology

[0007] The purpose of the present invention is to provide a high-precision SCARA robot dynamic parameter identification method based on maximum lik

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  • SCARA robot dynamic parameter identification method based on maximum likelihood estimation
  • SCARA robot dynamic parameter identification method based on maximum likelihood estimation
  • SCARA robot dynamic parameter identification method based on maximum likelihood estimation

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Embodiment Construction

[0048] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0049] Such as figure 1 Shown embodiment is a kind of SCARA robot dynamics parameter identification method based on maximum likelihood estimation, comprises SCARA robot, robot controller, computer; Computer is connected with robot controller, and SCARA robot is connected with robot controller; Include as follows step:

[0050] Step 110: Using the Newton-Euler method, introducing the coefficient of frictional force and the moment of inertia of the motor, establishing the dynamic equation of the SCARA robot,

[0051]

[0052] In the formula: τ is the n×1 joint torque vector; q, are the n×1 joint position, velocity and acceleration vectors; M(q) is the n×n mass matrix, is n×1 centrifugal force and Gothic force vector; G(q) is n×1 gravity vector; f c is the Coulomb friction coefficient, f v is the viscous friction coefficient, the followi...

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Abstract

The invention discloses a SCARA robot dynamic parameter identification method based on maximum likelihood estimation. According to the method, the rotational inertia of a motor is considered in the robot modeling process, and the identification precision is improved. In the track design, a method of replacing constant terms in the traditional Fourier series by a fifth-order polynomial is adopted,so that both the velocity and the acceleration of the joint at the starting and ending moments of the track are zero. The position, speed and acceleration limits of the joints are considered in the optimization of the excitation track, and the robot is ensured not to be out of limit in operation under the designed track. In the moment measurement, median filtering is introduced, the signal-to-noise ratio is improved, the identification precision is improved, and the parameter identification effect is improved.

Description

technical field [0001] The invention relates to the technical field of SCARA robots, in particular to a high-precision SCARA robot dynamic parameter identification method based on maximum likelihood estimation. Background technique [0002] In industrial applications, SCARA robots are required to have high-speed and high-precision characteristics, that is, the robots are required to have precise motion control algorithms. Designing a controller based on robot dynamics model is an effective way to realize high-speed and high-precision motion control. However, the design of this type of motion controller requires the known dynamic parameters of the robot, that is, the mass m of each link, the position of the center of mass r x , r y , r z Moment of inertia I xx , I yy , I zz and product of inertia I xy , I xz , I xz , these parameters are often difficult to measure directly and need to be obtained by specific identification methods. Therefore, the problem of robot dy...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈章位贺惠农张翔
Owner 杭州亿恒科技有限公司
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