Industrial robot variable parameter stiffness identification and modeling method
An industrial robot and modeling method technology, which is applied in the field of variable parameter stiffness identification and modeling of industrial robots, can solve the problems of unsatisfactory robot stiffness modeling accuracy and low applicability in the whole working space, so as to improve operation accuracy and improve Predictability, Workload Reduction Effect
An industrial robot and modeling method technology, which is applied in the field of variable parameter stiffness identification and modeling of industrial robots, can solve the problems of unsatisfactory robot stiffness modeling accuracy and low applicability in the whole working space, so as to improve operation accuracy and improve Predictability, Workload Reduction Effect
CN110161850AActive Publication Date: 2019-08-23NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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[0033] In order to facilitate the understanding of those skilled in the art, the present invention will be further described below in conjunction with the embodiments and accompanying drawings, and the contents mentioned in the embodiments are not intended to limit the present invention.
[0034] The stiffness identification equipment required by the technical solution of the present invention mainly includes: industrial robots, laser trackers (or other positioning acquisition sensors), six-dimensional force sensors, and the like.
[0035] refer to figure 1 As shown, an industrial robot variable parameter stiffness identification and modeling method of the present invention includes the following steps:
[0036] Step 1: Put the laser tracker in a suitable position for easy measurement. Use the laser tracker to measure and establish the coordinate system including the robot base coordinate system Base, the flange coordinate system Flange, the tool coordinate system Tool, and t...
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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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Patent Timeline
23 Aug 2019
Publication
CN110161850A
- IPC
- G05B13/04
- CPC
- G05B13/042; B25J13/085; B25J9/1653; B25J9/1607; G05B2219/39183; G05B2219/37065; G05B2219/39062; B25J19/022
- Inventors
- 田威; 焦嘉琛