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Robot model information identification method

A technology of information identification and robot, applied in the field of robot model information identification, can solve the problem that the CAD model cannot provide enough accurate model information, and achieve the effect of accurate information

Active Publication Date: 2021-06-15
珞石(北京)科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Robot dynamics model information includes body parameter information (mass matrix, Coriolis force matrix, gravity and friction information of the robot body), motor parameters (motor torque constant, current bias), joint stiffness and damping information; robot mass matrix Information can be obtained through CAD, but in some delicate application scenarios, the CAD model cannot provide sufficiently accurate model information

Method used

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Embodiment Construction

[0027] Embodiments of the present invention will be described in detail below, and examples of the embodiments are illustrated in the drawings, in which the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions. The following is exemplary, and is intended to be used to illustrate the invention without understanding the limitation of the invention.

[0028] For ontology parameter identification, the present invention provides a simultaneous identification method of identifying mass arrays, CCC array, gravity and frictional force information, motor torque regular, current bias.

[0029] Such as figure 1 As shown, the robot model information identification method of the embodiment of the present invention includes the following steps:

[0030] Step S1 identifies the mass array of robot's body, CCC force array, gravity and frictional force information, motor torque regular, and current bias parameters.

[0031] Speci...

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Abstract

The invention provides a robot model information identification method. The method comprises the steps: S1, identifying a mass matrix, a Coriolis force matrix, gravity and friction force information, a motor torque constant and a current bias parameter of a robot body; S2, identifying joint rigidity and damping information of the robot body; and S3, obtaining a complete kinetic model considering the robot joint flexibility according to the mass matrix, the Coriolis force matrix, the gravity and friction force information, the motor torque constant, the current bias, the joint rigidity and the damping information of the identified body.

Description

Technical field [0001] The present invention relates to the field of robotics, and in particular, to a robot model information identification method. Background technique [0002] The robot kinetic model information is the basis for improving the performance of robots. Based on an accurate kinetic model, we can implement such as dynamic feedforward, kinematics constraints, drag teaching, collision testing, and some advanced control algorithms. Robot dynamics model information includes body parameter information (mass array of robot body, CCC, gravity and friction information), motor parameters (motor torque regular, current bias), joint stiffness and damping information; robot's mass array Information can be obtained by CAD, but in some fine application scenarios, the CAD model cannot provide sufficiently accurate model information. Inventive content [0003] It is intended to address at least one of the technical defects. [0004] To this end, an object of the present invention...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00
CPCB25J19/00B25J19/0095
Inventor 庹华雷鸿于文进张航曹华韩峰涛任赜宇王腾飞
Owner 珞石(北京)科技有限公司