Information identification method and device, electronic equipment and storage medium
A technology of information recognition and robot joints, which is applied in the field of information processing, can solve problems such as model error interference, inaccurate friction models, and low performance of robot joints, so as to achieve the effect of improving accuracy and performance
Active Publication Date: 2021-03-19
上海新时达机器人有限公司
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[0003]However, in the case of a large safety margin of the reducer, the acceleration performance of the industrial robot is greatly reduced, and the industrial robot cannot exert its best performance. As a result, the joint beat performance of the entire robot is low; at the same time, the friction model is not accurate, and large model error interference will be introduced. Excessive disturbance will cause the robot to shake more
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[0032] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, various implementation modes of the present invention will be described in detail below in conjunction with the accompanying drawings. However, those of ordinary skill in the art can understand that, in each implementation manner of the present invention, many technical details are provided for readers to better understand the present application. However, even without these technical details and various changes and modifications based on the following implementation modes, the technical solution claimed in this application can also be realized. The division of the following embodiments is for the convenience of description, and should not constitute any limitation to the specific implementation of the present invention, and the various embodiments can be combined and referred to each other on the premise of no contradiction.
[0033] The first embodi...
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The embodiment of the invention discloses an information identification method and device, electronic equipment and a storage medium, and relates to the field of information processing. The information identification method comprises the steps: acquiring a test sequence of the robot joint, wherein the test sequence comprises an ideal driving torque parameter, a motor speed and an acceleration; acquiring an actual transmission torque parameter of the robot joint according to the ideal driving torque parameter, the acceleration and a preset rotation parameter; constructing a friction damping model according to the actual transmission torque parameter and the motor speed, and obtaining friction damping information of the robot joint according to the friction damping model. In the process of applying the robot joint test, friction damping information can be obtained more accurately by modeling and identifying the friction damping of the robot joint, and the problem that in the prior art, due to the fact that errors exist in friction damping identification, a robot sacrifices the acceleration performance of the robot in order to guarantee the safety of a speed reducer is solved.
Description
technical field [0001] The embodiments of the present invention relate to the field of information processing, and in particular, to an information identification method, device, electronic equipment, and storage medium. Background technique [0002] With the rapid development of artificial intelligence, the application of industrial robots has gradually accelerated, which has increased the performance requirements for the joints of industrial robots. The frictional damping of robot joints mainly comes from the reducer, and the efficiency of the reducer is mainly affected by temperature and speed. , Load influence, after adding dynamics to the control algorithm of industrial robots, because the joint efficiency of the robot is affected by many factors such as load size, temperature, speed, etc., the error that the friction model is not allowed to bring in leads to the speed planning. To ensure the safety of the reducer, the safety margin of the reducer is very large in most ...
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IPC IPC(8): G06F30/17G06F30/20G06F119/14
CPCG06F30/17G06F30/20G06F2119/14
Inventor 陈鹏王梦涛刘天华张敏梁
Owner 上海新时达机器人有限公司