Six-axis robot tail end load identification method and module

Abstract

The embodiment of the invention relates to the technical field of robot control and discloses a six-axis robot tail end load identification method and module. The method comprises steps of establishing a kinetic model of a joint axis; obtaining an initial pose of the six-axis robot, and generating an identification track according to the initial pose; according to the identification track, controlling a joint shaft move along the identification track, and acquiring parameter operation values of the joint shaft; according to a kinetic model and a parameter operation value, calculating gravitational moment, rotational inertia and coupling rotational inertia of the joint shaft; and according to the gravitational moment, the rotational inertia and the coupling rotational inertia, calculating terminal load kinetic parameters. The invention further provides a six-axis robot tail end load identification module. Compared with the prior art, the six-axis robot tail end load identification module has the advantages that the required space is small in the six-axis robot tail end load identification process, the requirements for the six-axis robot body kinetic parameters are extremely low, andtail end load kinetic parameter identification precision is high.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of robot control, in particular to a method and module for identifying a terminal load of a six-axis robot. Background technique [0002] Industrial robots have been increasingly used in work scenarios such as handling and palletizing. In work scenarios such as handling and palletizing, industrial robots are usually heavy-duty robots. During the working process of heavy-duty robots, the beat directly determines the production efficiency and cost. . In order to satisfy the robot to achieve the set speed and beat and make full use of the robot’s dynamic characteristics and give full play to the best performance of the robot’s joint axis servo motor, it is necessary to have accurate robot dynamic parameters, including the dynamic parameters of the robot body and the parameters installed on the robot. Dynamic parameters of tools and loads on the machine. In actual field applications, ...

AI Technical Summary

Problems solved by technology

[0003] The inventors found that there are at least the following problems in the prior art: the existing robot end load dynamics identification method requires a large movement space, is not suitable for most application conditions, and has high requirements for the accuracy of the robot body dynamics model. And the identification accuracy of the moment of inertia in the load dynamic parameters is not high

Images