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.
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[0044] Example 1
[0045] In the case of off-line parameter identification, an overall dynamic parameter identification method based on tandem 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. The Newton-Euler iterative method is used 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): Use robot geometric parameters to directly determine the minimum inertia parameter of the robot, linearize the robot dynamics model, and convert it into the product of the minimum inertia parameter vector and the linearization matrix;
[0048] Step (3): Taking the condition number of the observation matrix as the optimization criterion, and taking the angle, angular velocity, and angular accel...
Example Embodiment
[0050] Example 2
[0051] In the case of online parameter identification, an identification method based on the overall dynamics parameters of a series robot 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. The Newton-Euler iterative method is used 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): Use robot geometric parameters to directly determine the minimum inertia parameter of the robot, linearize the robot dynamics model, and convert it into the product of the minimum inertia parameter vector and the linearization matrix;
[0054] Step (3): Taking the condition number of the observation matrix as the optimization criterion, and taking the angle, angular velocity, and angul...
Example Embodiment
[0056] Example 3
[0057] Take the six-axis serial robot body as an example to describe the scheme of robot dynamic parameter identification.
[0058] Firstly, the coordinate system of the tandem robot rods is established, and the conversion matrix between each rod is established according to the DH parameters of the rods. DH parameters include rod length a i , The torsion angle of the member α i , Joint distance d i , Joint rotation angle θ i , Where i represents the joint number.
[0059] Such as figure 2 with 3 As shown, this embodiment uses modified DH parameters, which are different from 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 (1) Shown:
[0060]
[0061] among them Is the conversion matrix between the i-1 and i-th coordinate system, cθ i =cos(θ i ),sθ i =sin(θ i ),cα i-1 =cos(α i-1 ),sα ...
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