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Robot parameter identification and contact force monitoring method based on prior kinetic knowledge

A dynamic parameter and robot technology, applied in the direction of instruments, non-electric variable control, two-dimensional position/channel control, etc., can solve the problems of large amount of image information and difficulty in ensuring real-time performance

Active Publication Date: 2020-01-21
HEBEI UNIV OF TECH
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  • Abstract
  • Description
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AI Technical Summary

Problems solved by technology

This method can comprehensively grasp the external environment information, but the amount of image information is large, and the real-time performance is difficult to guarantee

Method used

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  • Robot parameter identification and contact force monitoring method based on prior kinetic knowledge
  • Robot parameter identification and contact force monitoring method based on prior kinetic knowledge
  • Robot parameter identification and contact force monitoring method based on prior kinetic knowledge

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Embodiment Construction

[0036] Specific examples of the present invention are given below. The specific embodiments are only used to describe the present invention in detail, and do not limit the scope of protection required by the patent application.

[0037] The invention is a robot parameter identification and contact force monitoring method based on priori dynamics knowledge. The method does not need a force sensor and a visual sensor, and obtains the orientation and magnitude of contact force according to the priori dynamics knowledge.

[0038] The present invention identifies the dynamic parameters of the robot through the gradient descent method, establishes an accurate dynamic model of the robot in free space, and then inputs the real-time information of the encoder angle and angular velocity after filtering and differential processing into the above-mentioned accurate dynamic model of the robot to obtain the condition At the same time, the current signal of the motor driver is converted into...

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Abstract

The invention discloses a robot parameter identification and contact force monitoring method based on prior kinetic knowledge. The method comprises the following steps: acquiring joint position and speed information and joint acceleration information of a robot through an encoder, and acquiring actual joint torque obtained after current information of an analog quantity monitoring end of a motor driver is processed in real time by a data acquisition card; controlling the robot to move along different tracks as many as possible in a space, acquiring angles, angular speeds, angular accelerationsand actual torque of the robot at different moments as samples, performing offline learning by a gradient descent method, identifying kinetic parameters of the robot, and obtaining an ideal kinetic model of the robot; in the real-time monitoring process, substituting the acquired and processed current information into the ideal kinetic model to obtain theoretical torque of the robot at the moment; and comparing the actual joint torque with the theoretical torque, and if the difference exceeds a threshold range, indicating that collision occurs. According to the method, contact force data canbe accurately acquired at low cost.

Description

technical field [0001] The present invention relates to the technical field of a contact force monitoring method between a fusion robot and the outside world, and more specifically, relates to a method for identifying robot parameters and contact force monitoring based on prior knowledge of dynamics. Background technique [0002] Robots have the advantages of large load, fast response, and high precision. They are usually used to replace humans in repetitive, heavy or dangerous tasks, and have been widely used in various fields of industrial manufacturing. With the progress of sensors, artificial intelligence, automatic control and other disciplines and technologies, robots are gradually developing into intelligent equipment with perception, cognition and autonomous action capabilities. In particular, the concept of co-integrated robots has greatly enriched the tasks of robots. Connotation. The so-called co-integration robot refers to the fact that machines and humans share...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0221G05D1/0223G05D1/0276
Inventor 郭士杰朱立爽刘今越李洋
Owner HEBEI UNIV OF TECH
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