Static stiffness identification system and method for serial industrial robots facing the processing site
A technology of industrial robots and static stiffness, which is applied in the direction of manipulators, manufacturing tools, etc., can solve problems such as the influence of light intensity, and achieve the effect of improving precision and reducing costs
Active Publication Date: 2022-04-12
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology
[0005] In view of this, the present invention provides a static stiffness identification system and method for serial industrial robots facing the processing site to solve the problems raised in the background technology, avoiding the traditional method of using a laser tracker that is susceptible to environmental temperature, air vibration, light Disadvantages affected by factors such as strength
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[0065] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0066] Embodiment 1 of the present invention discloses a static stiffness identification method for serial industrial robots oriented to the processing site, such as figure 1 shown, including the following steps:
[0067] Step 1: Establish the robot velocity Jacobian matrix and force Jacobian matrix;
[0068] Specifically, step one includes the following:
[0069] (1-1) Use the DH method to establish a robot kinematics model:
[0070]
[0071] Expand the...
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The invention discloses a static stiffness identification system and method for serial industrial robots facing the processing site, and relates to the technical field of stiffness calibration of industrial robots. The method of the present invention comprises the following steps: establishing a robot speed Jacobian matrix and a force Jacobian matrix; establishing a robot joint stiffness model; selecting a pose of the robot, and measuring the force and deformation of the end of the robot under a specific pose; adopting the least square method, combining The experimental data is used to calculate the joint stiffness of the robot. Compared with the existing technology, it has the following beneficial effects: using a dial indicator and a three-dimensional force sensor to identify the stiffness of the robot joints, greatly reducing the cost of robot stiffness identification; Due to the shortcomings of air vibration, light intensity and other factors, using a dial gauge to detect the deformation of the robot end can effectively improve the accuracy of the joint stiffness identification of the robot at the processing site.
Description
technical field [0001] The invention relates to the technical field of stiffness calibration of industrial robots, and more specifically relates to a static stiffness identification system and method for serial industrial robots facing the processing site. Background technique [0002] Industrial robots have been widely used in drilling, grinding, milling and other processing fields in recent years. Compared with traditional CNC machine tools, industrial robots have a high degree of processing flexibility, and their multi-joint structure brings a higher degree of freedom, and can adopt more flexible and changeable poses to achieve processing goals. On the other hand, the series structure of long connecting rods connected by rotary joints results in the rigidity of industrial robots being only 1 / 50 to 1 / 20 of that of traditional CNC machine tools, resulting in large deformations at the ends of industrial robots when they are subjected to working loads. The large cutting forc...
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IPC IPC(8): B25J19/00
CPCB25J19/0095
Inventor 刘志兵潘小雨王西彬焦黎解丽静梁志强颜培周天丰沈文华滕龙龙
Owner BEIJING INSTITUTE OF TECHNOLOGYGY