Stiffness modeling and identification method for seven-degree-of-freedom collaborative robot

An identification method and robot technology, applied in the direction of instruments, adaptive control, control/adjustment systems, etc., can solve the problems of increasing the rigidity of the whole machine, affecting the dynamic performance and precision of the robot, and reducing the sensitivity of errors and construction. The effect of reducing the workload and improving the recognition accuracy

Active Publication Date: 2022-01-04
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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Problems solved by technology

The design concept of the collaborative robot's light weight and high load-to-weight ratio requires the robot's joint integration, compact structure, and lightweight arm, which introduces a large number of flexible factors into the collaborative robot, and the structural parts and supports such as connecting rods have a great impact on the robot. The influence of stiffness cannot be ignored, which brings difficulties to the improvement of the stiffness of the whole machine, thus affecting the dynamic performance and precision of the robot

Method used

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  • Stiffness modeling and identification method for seven-degree-of-freedom collaborative robot
  • Stiffness modeling and identification method for seven-degree-of-freedom collaborative robot
  • Stiffness modeling and identification method for seven-degree-of-freedom collaborative robot

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Embodiment Construction

[0081] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0082] Such as Figure 1~5 Shown, the present invention comprises the steps:

[0083] Step 1: Carry out kinematic modeling on the robot and define the parameters of the robot joints.

[0084] Such as Figure 2~3 As shown, the seven-degree-of-freedom redundant robot can be regarded as composed of eight connecting rods and seven joints, and the DHm parametric modeling method can pass the connecting rod rotation angle α i-1 , connecting rod length a i-1 , connecting rod offset d i , joint angle θ i Four parameters are used to describe the kinematic characteristics of the connecting rod, where α i-1 、a i-1 Describe the kinematic properties of link i-1 itself, d i , θ i Describe the connection relationship between link i-1 and link i.

[0085] Coordinate system O i -x i the y i z i relative to the coordinate system O i-1 -x i-1 the y i-1 z i-1 Th...

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Abstract

The invention relates to the field of collaborative robots and particularly relates to a seven-degree-of-freedom collaborative robot rigidity modeling and identification method. The method comprises the following steps of step 1, kinematics modeling being performed on a robot, and robot joint parameters being defined; 2, rigidity modeling being conducted on the robot; 3, selecting an inverse condition number as an observability index of the optimal method, solving the individual influence of each joint on the inverse condition number, and obtaining a good recognition area in the joint space according to the influence of each joint on the inverse condition number; and 4, calculating joint rigidity. According to the method, the seven-degree-of-freedom robot rigidity identification pose selection is studied, the inverse condition number is used as an observation index to determine a good identification area with relatively high flexibility of the robot, identification precision of the rigidity model is improved, and optimal configuration selection can be effectively carried out.

Description

technical field [0001] The invention relates to the field of collaborative robots, in particular to a stiffness modeling and identification method for a seven-degree-of-freedom collaborative robot. Background technique [0002] With the continuous advancement of China's industrialization process, the market's demand for industrial robots is also changing, and the need for collaboration between robots and humans has led to the development of collaborative robots. [0003] Collaborative robots refer to robots that can directly interact with humans in a designated collaborative area. They have the characteristics of human-machine integration, safety and ease of use, sensitivity, precision, and flexibility. Manufacturing needs, there are also potential application prospects in the fields of social services and rehabilitation medicine in response to aging, and it has become an important direction leading the development of robots in the future. The design concept of the collabor...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 潘新安王洪光于海斌胡明伟
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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