Industrial robot variable parameter stiffness identification and modeling method

Abstract

The invention discloses an industrial robot variable parameter stiffness identification and modeling method, which belongs to the technical field of industrial robot stiffness identification. In the method, the effective working space of the robot is divided to multiple cubic regions; in view of a working task for a certain processing region, through applying different loads to an end effector under multiple positions and multiple postures in the region, based on the relationship between a load and end deformation, the robot joint stiffness in the interval can be identified and acquired, and accurate stiffness control on the robot at different working intervals during the processing process is realized. The method can realize accurate evaluation on the stiffness performance of the robot during the working process, the end deformation during the loaded processing process is thus accurately predicted, the effects of improving the processing precision and the quality are further achieved,and the application requirements of the robot in the field of high precision machining such as milling and hole making can be met.

Description

technical field [0001] The invention belongs to the technical field of robot stiffness identification, and in particular relates to a variable parameter stiffness identification and modeling method of an industrial robot, which can realize accurate modeling and evaluation of the robot's operating stiffness. Background technique [0002] As a typical flexible platform, industrial robots have high motion flexibility and can efficiently complete complex spatial orientation. At the same time, they can quickly adjust the operation trajectory and equipment status with the support of high-performance controllers. Core processing equipment in the field of value-added manufacturing and assembly. However, industrial robots are affected by the inherent characteristics of their series structure, and their rigidity is only 1 / 50 to 1 / 20 of that of CNC machine tools. The structural characteristics of weak rigidity lead to low tolerance of industrial robots to working loads, which will affe...

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Problems solved by technology

[0007] In view of the deficiencies in the prior art above, the purpose of the present invention is to provide a variable parameter stiffness identification and modeling method for industrial robots to solve the problem of robot stiffness caused by the poor applicability of the static stiffness identification results to the entire working space in the prior art. The problem of unsatisfactory modeling accuracy; the effective improvement of the stiffness modeling accuracy of industrial robots and the accurate prediction of the end-loaded deformation of the robot under the working state

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