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Overall kinetic parameter identification method based on series robot

A technology of dynamic parameters and identification methods, applied in the field of overall dynamic parameter identification based on serial robots, can solve the problems of excessive axis parameter identification accuracy errors and defects in collected data, and achieve the effect of improving reliability.

Pending Publication Date: 2020-08-07
WUXI XINJIE ELECTRICAL
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  • Description
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  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to overcome the above-mentioned problems in the prior art, and propose a series identification scheme based on Markov chain and weighting thought, which can solve many problems existing in the identification of overall parameters, such as the overall Or the problem of too large error in the identification accuracy of some axis parameters, the problem of data collection defects, the problem of data credibility, etc.; this solution can also realize the online identification of the dynamic parameters of the robot, and can greatly improve the reliability of the identification parameters

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  • Overall kinetic parameter identification method based on series robot
  • Overall kinetic parameter identification method based on series robot
  • Overall kinetic parameter identification method based on series robot

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Embodiment 1

[0045] In the case of offline parameter identification, an overall dynamic parameter identification method based on serial robots includes the following steps:

[0046] Step (1): Obtain the DH parameters of each axis of the robot, and establish the conversion relationship matrix between the linkage coordinate system and each axis. Adopt Newton-Eulerian iterative method to establish the overall dynamics model of the tandem robot; the DH parameters include the rod length, rod torsion angle, joint distance and joint rotation angle of each axis of the robot;

[0047] Step (2): directly determine the minimum inertial parameter of the robot with the geometric parameters of the robot, linearize the dynamic model of the robot, and convert it into the product form of the minimum inertial parameter vector and the linearization matrix;

[0048] Step (3): Taking the condition number of the observation matrix as the optimization criterion, taking the joint angles, angular velocities, and a...

Embodiment 2

[0051] In the case of online parameter identification, an overall dynamic parameter identification method based on serial robots includes the following steps:

[0052]Step (1): Obtain the DH parameters of each axis of the robot, and establish the conversion relationship matrix between the linkage coordinate system and each axis. Adopt Newton-Eulerian iterative method to establish the overall dynamics model of the tandem robot; the DH parameters include the rod length, rod torsion angle, joint distance and joint rotation angle of each axis of the robot;

[0053] Step (2): directly determine the minimum inertial parameter of the robot with the geometric parameters of the robot, linearize the dynamic model of the robot, and convert it into the product form of the minimum inertial parameter vector and the linearization matrix;

[0054] Step (3): Taking the condition number of the observation matrix as the optimization criterion, taking the joint angles, angular velocities, and ang...

Embodiment 3

[0057] Taking the body of a six-axis series robot as an example, the scheme of robot dynamic parameter identification is described in detail.

[0058] Firstly, the bar coordinate system of the serial robot is established, and the transformation matrix between each bar is established according to the DH parameters of the bar. The DH parameter includes the member length a i , member torsion angle α i , joint distance d i , joint rotation angle θ i , where i represents the joint number.

[0059] Such as figure 2 and 3 As shown, this embodiment adopts the modified DH parameters, which are different from the standard DH parameters. The rod coordinate system established by the modified DH parameters is the drive shaft coordinate system, and the conversion matrix between the coordinate systems can be calculated from the DH parameters, as shown in the formula (1) as shown:

[0060]

[0061] in is the transformation matrix between the i-1th and i-th coordinate systems, cθ ...

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Abstract

The invention discloses an overall kinetic parameter identification method based on a series robot, and belongs to the technical field of robot control. The overall kinetic parameter identification method comprises the steps: DH parameters of all axes of the robot are obtained, and a robot kinetic model is established; a minimum inertia parameter set of the robot is determined, and the robot kinetic model is linearized and converted into a form of a product of a minimum inertia parameter vector and a linearized matrix; an excitation track used for identification is calculated, data are collected and filtered, and a corresponding collecting moment and measurement matrix are obtained; and the collecting moment and the measurement matrix are normalized, weighted calculation is conducted on anoptimization algorithm, and kinetic parameters are obtained. According to the overall kinetic parameter identification method based on the series robot, various problems, such as the problem, causedby inconsistency of series axis scales, of excessive error of identification precision of overall or certain axis parameters, the problem of collecting data imperfection and the problem of data credibility, in overall parameter identification can be solved; and meanwhile the kinetic parameters of the robot can be identified on line, and the reliability of parameter identification can be greatly improved.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to an overall dynamics parameter identification method based on serial robots. Background technique [0002] Tandem robots are more and more popular in industry and service industries due to their simple operation and large working space. The dynamic parameters of series robots are generally acquired indirectly by parameter identification method (such as a kind of industrial robot overall dynamics modeling and dynamic parameter identification method, publication number: CN110539302A; an improved SCARA robot dynamic parameter identification method, publication number: CN107671861A). However, the current tandem robot (overall) parameter identification uses two-axis, front three-axis, rear three-axis and other non-true overall identification methods, and the identification parameters obtained cannot be directly used in the overall dynamics model, which greatly limits the applica...

Claims

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Application Information

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IPC IPC(8): B25J9/16G06F30/20G06F30/17G06F119/14
CPCB25J9/16B25J9/1656G06F30/20G06F30/17G06F2119/14Y02T90/00
Inventor 李丰果邢晓凡焦晨航陈建钱唯谷周宇
Owner WUXI XINJIE ELECTRICAL
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