An Adaptive Control-Based Identification Method for Dynamic Parameters of Flexible Joints
A dynamic parameter and self-adaptive control technology, applied in the field of dynamic parameter identification of flexible joints, to achieve the effect of improving identification accuracy, improving precision, and flexible application
Active Publication Date: 2022-06-03
HARBIN INST OF TECH
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[0005] In order to overcome the deficiencies of the prior art, the present invention proposes a flexible joint dynamics parameter identification method based on adaptive control, which does not rely on joint angular acceleration information and integral operations, and solves the high-order differential existing in the existing identification algorithm Adverse effects caused by noise or integral accumulation errors, thereby improving the identification accuracy of dynamic parameters of flexible joints
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Convert the output value of the dynamic model and filter the speed data;
Step 4: combine the motor side optimization dynamics model, apply the recursive least squares method, estimate the motor side dynamics
parameters and joint stiffness parameters;
Step 5: substitute the joint stiffness parameter into the load side controller, control the load side to track the excitation trajectory, collect the load
joint angle, angular velocity and the output value of the load-side optimization dynamic model, and filter the velocity data;
Step 6: in conjunction with load side optimization dynamics model, apply recursive least squares method, estimate load side dynamics
parameters to complete the dynamic parameter identification of the flexible joint.
Further, the process of step 1 is specifically: the commonly used flexible joint dynamics model is represented as follows:
[0025]
[0026]
Wherein, formula (1) represents load side dynamics model, and formula (2) represents motor ...
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A dynamic parameter identification method for flexible joints based on adaptive control, including the following steps: Step 1: Decompose the common dynamic model of flexible joints into motor side and load side, establish an optimized dynamic model, and design the corresponding Adaptive controller; Step 2: Design and optimize the excitation trajectory of the flexible joint, perform closed-loop feedback control of the flexible joint, and then adjust the parameters of the adaptive controller; Step 3: Control the motor side to track the excitation trajectory; Step 4: Combine the motor Optimize the dynamic model on the side, and use the recursive least squares method to estimate the dynamic parameters and joint stiffness parameters on the motor side; Step 5: Control the load side to track the excitation trajectory; Step 6: Combine the load side to optimize the dynamic model, and apply the recursive minimum The square method is used to estimate the dynamic parameters of the load side and complete the identification of the dynamic parameters of the flexible joint. The invention does not rely on joint angular acceleration information and integral calculation, and improves the identification accuracy of dynamic parameters of flexible joints.
Description
A Dynamic Parameter Identification Method for Flexible Joints Based on Adaptive Control technical field The present invention relates to the field of robot control, in particular to a flexible joint dynamic parameter based on adaptive control. Number identification method. Background technique In the traditional robot control technology, the robot joints are generally considered as rigid joints, and then the corresponding Dynamic parameter identification and application of model-based control algorithms. In fact, the joint of the robot is a kind of flexible joint, and And with the development of collaborative robot technology, the joint stiffness of new collaborative robots is significantly lower than that of traditional industrial robots. The traditional rigid joint dynamics model and its dynamic parameter identification method have been unable to meet the control requirements of new robot systems. Therefore, it is necessary to propose an effective dynamic parame...
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IPC IPC(8): G05B13/04
CPCG05B13/042Y02T90/00
Inventor 金弘哲刘章兴刘玉斌赵杰王彬峦印鸿黄卫金张洋张慧
Owner HARBIN INST OF TECH