Robot Parameter Identification and Contact Force Monitoring Method Based on Prior Dynamics Knowledge

A technology of dynamic parameters and robots, applied in the direction of instruments, non-electric variable control, two-dimensional position/channel control, etc., can solve problems such as difficult to guarantee real-time performance and large amount of image information

Active Publication Date: 2021-05-11
HEBEI UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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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 Dynamics Knowledge
  • Robot Parameter Identification and Contact Force Monitoring Method Based on Prior Dynamics Knowledge
  • Robot Parameter Identification and Contact Force Monitoring Method Based on Prior Dynamics 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 present invention is a robot parameter identification and contact force monitoring method based on prior knowledge of dynamics. The method obtains joint position and speed information and joint acceleration information of the robot through an encoder, and the data acquisition card collects the current information of the analog quantity monitoring terminal of the motor driver in real time. The actual joint torque obtained after processing; control the robot to move as many different trajectories as possible in the space, and collect its angle, angular velocity, angular acceleration, and actual torque at different moments as samples, and learn offline through the gradient descent method to identify The dynamic parameters of the robot are used to obtain the ideal dynamic model of the robot; in the real-time monitoring process, the collected and processed current information is brought into the ideal dynamic model to obtain the theoretical torque of the robot at this moment; the actual joint torque and the theoretical Moment comparison, if the difference exceeds the threshold range, it means that a collision has occurred. This method can realize accurate acquisition of contact force data 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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Patent Type & Authority Patents(China)
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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