基于关节扭矩平衡的机器人末端负载辨识方法、系统
By establishing a model through joint torque balancing and calibrating the current, the problem of reduced positioning accuracy caused by end-effector load is solved, achieving efficient and accurate load identification, which is suitable for industrial robots with closed controllers.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- KUNMING UNIV OF SCI & TECH
- Filing Date
- 2023-11-28
- Publication Date
- 2026-07-17
AI Technical Summary
In existing technologies, the installation of end-effector loads on industrial robots leads to a decrease in absolute positioning accuracy, necessitating effective end-effector load identification methods to reduce positioning errors.
An end-effector load model is established by balancing joint torque, the calibration coefficients of the robot joint current are determined, the collected joint current is calibrated based on the calibration coefficients, and the calibrated torque information is used as input to identify the unknown parameters of the end-effector load model.
It simplifies the load modeling process, improves modeling efficiency, and can accurately identify loads without the need for external sensors. It is suitable for industrial robots with closed controllers and provides more accurate identification results.
Smart Images
Figure CN117381796B_ABST