A method for robot dynamics model identification
A dynamic model and identification method technology, applied in the field of robot dynamics model, can solve the problems of poor consistency and low identification accuracy of robot dynamics model parameters, and achieve the effects of good consistency, improved identification accuracy and high accuracy
Active Publication Date: 2022-03-01
SHANGHAI JIAOTONG UNIV
View PDF6 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0007] In view of the above-mentioned defects of the prior art, what the present invention aims to solve is the problem of low precision and poor consistency in the identification of robot dynamic model parameters in the prior art
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0061] The method of the present invention is further described below in conjunction with the accompanying drawings. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following Example.
[0062] The robot of this embodiment is the Foxconn robot whose model is A-05-2, and its six joints are all rotary joints, and the controller used in the embodiment is the MicroLabBox of dSPACE Company, such as figure 1 As shown, this embodiment includes the following steps:
[0063] Step 1, prepare data, collect the torque command of each joint and the feedback position of the joint encoder; let the robot track the excitation curve optimized in advance, record the joint torque command and the feedback position of the encoder at the same time, and then use the Butterfly with zero phase delay ...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses a robot dynamics model identification method, which relates to the field of robot dynamics models, including three loops from inside to outside, and the inner loop is configured to make the covariance matrix of the error in the dynamics model converge to a constant so that the statistical characteristics of the error can be calculated more accurately; the middle layer loop is configured to remove data points that do not conform to the model in the data, so as to improve the consistency of model parameter estimation; the outer loop is configured to update non- Linear friction model parameters to improve the accuracy of model parameter estimation; compared with the traditional dynamic model identification method, the present invention analyzes the parameter identification problem from a statistical point of view, adopts iterative weighted least square method to eliminate abnormal points, and adopts new friction model Improve recognition accuracy. Through the implementation of the invention, dynamic model parameters can be accurately and robustly identified in an off-line manner, thereby laying a solid foundation for the design and application of robots.
Description
technical field [0001] The invention relates to the field of robot dynamic models, in particular to a robot dynamic model identification method. Background technique [0002] Dynamic models are widely used in controller design, motion planning with joint force / moment constraints, offline simulation, and design of disturbance observers. Therefore, how to accurately identify the dynamic model is of great significance. [0003] The theoretical basis of robot dynamics model identification matured in the 1980s. The most important theoretical basis is that the robot dynamics model has a linear relationship with its inertial parameters, so that the model parameters can be identified by the least square method. In this regard, Khalil et al. have elaborated in "Modeling, Identification and Control of Robots". [0004] The friction model is particularly important in the process of robot dynamics model identification. On the one hand, the friction force occupies a large proportion i...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J17/02
CPCB25J9/1653B25J17/02
Inventor 吴建华熊振华韩勇史晓立朱向阳
Owner SHANGHAI JIAOTONG UNIV