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

A control method and friction technology, applied in the field of robotics, can solve problems such as the inability to guarantee the accuracy of friction parameters

Active Publication Date: 2022-03-18
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

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

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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

This application is applicable to the field of robot technology, and provides a robot control method for identifying friction, including: performing joint friction identification motion based on the joint motion range, joint speed range, joint acceleration range, and friction identification accuracy Trajectory planning, taking the preset time as the cycle, interpolating the motion trajectory planning into discrete point data, outputting the interpolated point data to the servo controller of each joint of the robot, and obtaining the position of the joint motor and the joint motor during the movement process Current, calculate joint friction parameters and output. The present invention can accurately identify the joint friction force throughout the movement process.

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 Patents(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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