Robot load identification method

Abstract

The invention discloses a robot load identification method. The method comprises the following steps that a kinetic model of a robot in no-load operation is established; the relation between the moment of each joint and a tail end load is established; according to the current joint position, speed, acceleration and friction force, the no-load moment of each joint is obtained through the kinetic model; the moment of each joint is obtained according to the feedback moment of each joint; and during operation of the robot, data are collected by each joint and load mass and mass center are calculated once at the interval of one second, and average values of calculation results of the load mass and the mass center within 60 seconds are taken as final load mass and final mass center. According to the robot load identification method, based on the kinetic model and the servo feedback moment, the tail end load is identified in real time through the difference between the kinetic model and the servo feedback moment according to the relation between the moment of each joint and the tail end load, identification of the tail end load of the robot is realized, the method is independent of the model, low in cost, simple and easy to use, and robot load identification is automatically completed in the operation process.

Description

technical field [0001] The invention relates to the technical field of robot systems, in particular to a method for robot load identification. Background technique [0002] In the robot system, the change of the end load will seriously affect the control performance of the robot, so it is necessary to identify the end load of the robot. There are three main types of traditional robot load identification methods: CAD model method, method using torque sensor, sensorless static and dynamic identification method; CAD model method depends on the load model and has narrow applicability; method using torque sensor requires additional sensors , the cost is high; therefore, a method of robot load identification is designed to solve the above problems. Contents of the invention [0003] The purpose of the present invention is to provide a method for robot load identification to solve the problems raised in the background art above. [0004] In order to solve the above technical pr...

AI Technical Summary

Problems solved by technology

There are three main types of traditional robot load identification methods: CAD model method, method using torque sensor, sensorless static and dynamic identification method; CAD model method depends on the load model and has narrow applicability; method using torque sensor requires additional sensors , the cost is high; therefore, a method of robot load identification is designed to solve the above problems

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