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Robot load identification method and identification device

A load recognition and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as the absence of zero space for six-axis robots, the danger of robots, and the increase in cost.

Pending Publication Date: 2022-03-22
北京敏锐达致机器人科技有限责任公司
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Problems solved by technology

[0004] However, this method requires an additional multi-dimensional force sensor, which leads to an increase in cost, and requires an indirect conversion of the terminal force into the torque of each joint through the calculation of the Jacobian matrix
[0005] Chinese invention patent ZL201610967758.1 discloses a load identification method and module for a six-axis robot, but since there is no zero space in a six-axis robot, correspondingly, when this method is applied to seven-axis and above degrees of freedom, the load will move , the robot is prone to danger when running the stimulus trajectory

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  • Robot load identification method and identification device
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  • Robot load identification method and identification device

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[0057] The present disclosure will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific implementation manners described here are only used to explain relevant content, rather than to limit the present disclosure. It should also be noted that, for ease of description, only parts related to the present disclosure are shown in the drawings.

[0058] It should be noted that, in the case of no conflict, the implementation modes and the features in the implementation modes in the present disclosure can be combined with each other. The technical solutions of the present disclosure will be described in detail below with reference to the accompanying drawings and in combination with implementation manners.

[0059] Unless otherwise specified, the illustrated exemplary embodiments / embodiments are to be understood as exemplary features providing various details of some manner in which the technical idea of ​​the pre...

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Abstract

The invention provides a robot load recognition method. The robot load recognition method comprises the steps that a kinetic model of a robot is obtained according to the structure of the robot; generating a null-space motion excitation track; according to the kinetic model of the robot and the null-space motion excitation track of the robot, a torque theoretical value required by motion of a robot body is obtained; after the robot is loaded with a load, the robot is operated to run a null-space motion excitation track, and the actual torque value of each joint is collected in real time; and obtaining an inertial parameter set of the load of the robot according to the theoretical torque value required by the movement of the robot body and the actual torque value of each joint. The invention further provides an identification device, electronic equipment and a readable storage medium.

Description

technical field [0001] The present disclosure relates to the technical field of robot control, in particular to a robot load identification method, an identification device, electronic equipment and a readable storage medium. Background technique [0002] During the actual operation of the robot, its terminal load may change. If the control system does not compensate the gravity moment and inertia moment generated by the load in time, the robot's motion accuracy will deteriorate, and its dynamic performance will decrease. The lower position causes resonance of the load and the connecting rod. Therefore, fast and accurate identification of load dynamic parameters is one of the keys to realize high-precision robot control. [0003] In the prior art, a multi-dimensional force sensor is generally installed at the end of the robot to sense the force information on the end of the robot, and the end of the robot is operated in different poses, and the force feedback information of...

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1633B25J9/1664B25J9/1602B25J9/1605
Inventor 于军章陈兆芃王倩宋顺广
Owner 北京敏锐达致机器人科技有限责任公司