Robot dynamics parameter identification method independent of angular acceleration of joints

A technology of dynamic parameters and identification method, which is applied in the field of robot dynamic parameter identification that does not depend on joint angular acceleration, can solve the problem of low accuracy of parameter identification, and achieve the effect of simple expression and small amount of calculation

Pending Publication Date: 2019-12-24
深圳市大象机器人科技有限公司
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Problems solved by technology

[0005] The purpose of the present invention is to provide a robot dynamic parameter identification method that does not depend on joint angular acceleration, to solve the problem of low parameter identification accuracy caused by differential calculation in order to avoid angular acceleration in the prior art

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  • Robot dynamics parameter identification method independent of angular acceleration of joints
  • Robot dynamics parameter identification method independent of angular acceleration of joints
  • Robot dynamics parameter identification method independent of angular acceleration of joints

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Embodiment 1

[0038] In this embodiment, a method for identifying dynamic parameters of a robot independent of joint angular acceleration is disclosed, including the following steps:

[0039] Step 1: Design the optimized excitation trajectories of all joints of the robot, and drive the robot to start moving, wherein each joint of the robot moves according to their respective optimized excitation trajectories;

[0040] Step 2: Measuring the joint motion data of the robot motion process, the joint motion data includes joint angle values, joint angular velocity values ​​and joint torque values, and then smoothing and filtering the joint motion data;

[0041] Step 3: Establish the robot energy model Y=WX, wherein, Y represents the joint motion data matrix, W represents the regression matrix, and X represents the dynamic parameter set;

[0042] Step 4: Get the dynamic parameter identification model based on the robot energy model obtained in step 3 where W + is the pseudo-inverse matrix of W,...

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Abstract

The invention belongs to the field of robots and discloses a robot dynamics parameter identification method independent of angular acceleration of joints. The method comprises the steps that 1, optimization excitation trajectories of all the joints of a robot are designed to drive a robot to start moving; 2, joint movement data of the robot in the movement process is measured and then subjected tosmoothing filtering; 3, a robot energy model Y=WX is established; 4, according to the robot energy model, a dynamics parameter identification model is obtained, the joint movement data is used as input of a dynamics parameter estimation model, and an identification value of a robot dynamics parameter set is output. The robot dynamics parameter identification method is independent of the angular acceleration of the joints, and the problem is solved that since the measurement noise of the joint angles is amplified through difference operation, the parameter identification precision is low.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to a method for identifying dynamic parameters of a robot independent of joint angular acceleration. Background technique [0002] With the application of robot technology in laser cutting, precision electronics and other fields, higher and higher requirements are put forward for the performance of robots. Traditional industrial robot servo drives only have PID control, which cannot meet the high-speed and high-precision operation requirements of robots. The feed-forward compensation based on the dynamic model can effectively improve the robot's speed and trajectory tracking accuracy, and the closer the description of the dynamic model is to the dynamic characteristics of the actual robot, the more obvious the improvement in robot performance will be. Therefore, it is crucial to explicitly model the dynamic characteristics of the robot and accurately estimate the dynamic parameter...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1664
Inventor 阳涵疆伍祁林宋君毅
Owner 深圳市大象机器人科技有限公司
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