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Robot control method and device for recognizing friction force, robot and storage medium

A control method and friction technology, applied in the field of robotics, can solve the problem that the accuracy of friction parameters cannot be guaranteed

Active Publication Date: 2020-05-22
ADTECH SHENZHEN TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] The embodiment of the present application provides a robot control method, device, robot and storage medium for identifying friction, which can solve the problem that the existing technology can only guarantee the accuracy of the overall model, but cannot guarantee the accuracy of friction parameters

Method used

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  • Robot control method and device for recognizing friction force, robot and storage medium
  • Robot control method and device for recognizing friction force, robot and storage medium
  • Robot control method and device for recognizing friction force, robot and storage medium

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Embodiment Construction

[0029] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0030] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude one or more other Presence or addition of features, wholes, steps, operations, elements, components and / or collections thereof.

[0031] It should...

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Abstract

The invention is applicable to the technical field of robots, and provides a robot control method for recognizing friction force. The method comprises the following steps of planning a motion trajectory of joint friction force recognition according to a joint motion range, a joint speed range, a joint acceleration range and friction force recognition precision; taking preset time as a period, planning and interpolating the motion trajectory into discrete point position data; outputting interpolation point positions to servo controllers of all joints of a robot; obtaining joint motor positionsand joint motor currents in the motion process; and calculating joint friction force parameters and outputting the parameters. According to the method, joint friction force in the whole motion processcan be accurately identified.

Description

technical field [0001] The present application belongs to the technical field of robots, and in particular relates to a robot control method, device, robot and storage medium for recognizing frictional force. Background technique [0002] In order to avoid joint friction affecting the control performance of multi-joint robots, especially the control performance of multi-joint robots at low speeds, it is often necessary to accurately identify joint friction parameters. [0003] One of the friction identification methods in the prior art is: establishing a dynamic model of the parallel robot including friction; establishing a least squares equation for describing dynamic identification parameters according to the dynamic model of the parallel robot; according to the least squares Multiply the equation to establish the optimization criterion of the excitation trajectory, and use the finite Fourier series to describe the mathematical model of the excitation trajectory; control t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/00B25J13/08
CPCB25J9/1664B25J9/161B25J9/1694B25J13/00B25J13/08
Inventor 黎文博钱作忠罗欣
Owner ADTECH SHENZHEN TECH
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