SCARA robot friction model improvement and dynamical parameter identification method

Abstract

The invention discloses an SCARA robot friction model improvement and dynamical parameter identification method, which comprises the following steps: establishing an SCARA robot joint dynamical model;performing parameter identification on an improved friction model; substituting the identified friction model into the dynamical model, and linearizing the rest part, except the friction model, in the dynamical model; on the basis of the linearized dynamical model, setting an observation matrix and limiting conditions to design an excitation track in an improved Fourier form; based on the excitation track, collecting corresponding data through an experiment to obtain dynamical parameters to be identified; and identifying the dynamical parameters to be identified through a least square method.The method has the advantages of improving the precision of parameter identification and the accuracy of torque prediction.

Description

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AI Technical Summary

Benefits of technology

This technology helps increase the precision and efficiency of identifying parameters on robots without overloading their motors or causing damage caused by excessive force from collisions between objects. It also allows for more accurate motion control based upon these factors such as velocity and position sensed by encoder devices attached to the robotic arm's end effector(s). Overall this innovation enhances the performance and reliability of industrial applications where they work together effectively.

Problems solved by technology

This patents discusses how precision in robotic movements can be achieved by designing highly accurate controllers that take into account factors like position errors or machine noise during movement. These techniques require detailed measurements from different parts of the system for optimal performance. Existing identifying methods also suffer issues with their ability to accurately identify certain types of variables such as velocity or force due to these sources of variation over time.

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