Error identification method, system and robotic arm for pitch motion of robotic arm

Abstract

The present invention provides an error identification method, system and mechanical arm for the pitch motion of a mechanical arm, and relates to the technical field of pitch mechanisms. The specific steps include: obtaining the motion time series data of the mechanical arm in the most recent pitch motion, dividing the data into multiple time intervals, and calculating the pitch angle acceleration, position change and effective distance change in each interval, and then establishing an error identification model; generating a motion stability index of angle, speed and distance; constructing a response motion model of the pitch mechanism based on the error reference index and the stability index, generating a response motion index, and judging the stability of the motion. The present invention effectively realizes the real-time monitoring and control of motion errors, significantly improves the operating accuracy and stability of the pitch mechanism in various dynamic environments, and can quickly identify and adjust unstable motion behaviors.

Description

Technical Field

[0001] The present invention relates to the technical field of pitch mechanisms, and in particular to an error identification method and system for pitch motion of a robotic arm, and a robotic arm. Background Art

[0002] With the rapid development of automation technology, robotic arms are increasingly used in industrial production, logistics and service industries. As one of its core functions, the pitch motion of the robotic arm directly affects the accuracy and efficiency of the robotic arm when performing tasks. Traditional control methods usually rely on preset motion trajectories and simple feedback mechanisms. However, in practical applications, due to the complexity of the environment and the dynamic changes of the target object, these methods alone are often unable to effectively control the motion stability of the robotic arm. In addition, existing motion recognition technologies are also limited in real-time and accuracy, especially in scenarios that require high dynamic performance, which can easily lead to the accumulation of motion errors and a decrease in control quality.

[0003] At present, the error identification method for the pitch motion of the robot arm is not perfect enough. Most existing technologies rely on simple motion parameter monitoring and fail to fully consider various factors in the motion process, such as angle changes, speed fluctuations, and distance changes, which makes it difficult to ensure the motion stability of the robot arm in a changing working environment. In addition, the lack of an effective motion stability evaluation model makes the traditional system slow to respond when identifying and adjusting motion errors, resulting in reduced reliability of the overall system. Therefore, there is an urgent need for an innovative error identification method that comprehensively considers motion parameters and real-time feedback data to improve the stability and accuracy of the robot arm during pitch motion, thereby meeting the needs of modern industrial applications.

[0004] The above information disclosed in this Background section is only for enhancement of understanding of the background of the present disclosure and therefore it may contain information that does not constitute the prior art that is already known to one of ordinary skill in the art. Summary of the invention

[0005] The object of the present invention is to provide a method, system and robot arm for error identification of pitch motion of a robot arm, so as to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A method for error identification of pitch motion of a robotic arm, the specific steps comprising:

[0008] Step 1: obtaining the motion timing data of the vertical pitch mechanism of the robot arm during the most recent pitch motion control process, wherein the motion timing data includes the pitch angle data, the pitch angular velocity data and the effective distance data of the vertical pitch mechanism, and obtaining the desired motion parameters of the pitch motion control;

[0009] Step 2: Divide the time length of the motion time series data into n time intervals, calculate the pitch angle acceleration, pitch angle change and effective distance change of each interval, and establish an error identification model in combination with the expected motion parameters to form an error reference index for each interval;

[0010] Step 3: Generate the angle motion stability index, speed motion stability index and distance motion stability index respectively according to the pitch angle change, pitch angle acceleration and effective distance change in all time intervals;

[0011] Step 4: Construct a response motion model of the vertical pitch mechanism according to the error reference index, the angle motion stability index, the speed motion stability index and the distance motion stability index, generate a response motion index of the vertical pitch mechanism, and judge the motion stability of the vertical pitch mechanism according to the response motion index.

[0012] Furthermore, the expected motion parameters include an expected motion angle, an expected motion distance and an expected motion time for the robot arm to complete an operation;

[0013] The motion time series data of the vertical pitch mechanism of the robot arm in the most recent pitch motion control process is obtained, and the time intervals of the motion time series data are divided into n time intervals. The time variable range of each time interval is: [t0, t1], [t1, t2], ..., [t i-1 ,t i ], …, [t n-1 ,t n ], t i-1 and t i They represent the starting time variable and the ending time variable of the i-th time interval respectively, and t i -t i-1 =T, T is the length of an interval, and the parameters are collected according to the following method:

[0014] The pitch angular velocity ω is measured using an inertial measurement unit; the measured distance d is obtained using a laser rangefinder;

[0015] Use the visual sensor to obtain the pitch angle θ actual .

[0016] Furthermore, the pitch angular acceleration of each interval is calculated according to the following formula:

[0017]

[0018] Among them, α i is the pitch acceleration of the ith time interval, indicating the rate of change of the pitch velocity; T is the length of an interval, t iThe pitch angular velocity at time, t i-1 The pitch angular velocity at the moment;

[0019] The pitch angle change in each interval is calculated according to the following formula:

[0020]

[0021] Among them, Δθ i represents the pitch angle change in the i-th interval, Indicates t i The pitch angle at the moment, Indicates t i-1 The pitch angle at the moment;

[0022] The effective distance change of each interval is calculated according to the following formula:

[0023]

[0024] Where, Δd i represents the effective distance change in the i-th time interval, Indicates t i The effective distance at the moment, Indicates t i-1 The effective distance at the moment is the distance between the sensor and the target object.

[0025] Furthermore, an error identification model is established in combination with the expected motion parameters, and the error reference index of each interval is calculated after dimension removal according to the following formula:

[0026]

[0027] Among them, ∈ i is the error reference index of the ith interval, α i is the pitch angular acceleration of the ith interval, Δθ i represents the pitch angle change in the i-th interval, Δd i It represents the effective distance change of the i-th interval, A is the expected movement time, B is the expected movement angle, D is the expected movement distance, n is the number of intervals, K1, K2, K3 are proportional coefficients, and K3>K2>K1>0.

[0028] Furthermore, the angle motion stability index, speed motion stability index and distance motion stability index are generated according to the pitch angle change, pitch angle acceleration and effective distance change in all time intervals, respectively, and the formulas are as follows:

[0029]

[0030] Where QS is the angular motion stability index, n is the number of intervals, Δθ i represents the pitch angle change in the i-th interval, Represents the mean value of the pitch angle change in all intervals;

[0031]

[0032] Among them, ES is the speed motion stability index, n is the number of intervals, α i is the pitch angular acceleration of the ith interval, represents the mean value of the pitch angular acceleration in all intervals;

[0033]

[0034] Among them, RS is the distance motion stability index, n is the number of intervals, Δd i represents the effective distance change of the i-th interval, Represents the mean of the effective distance changes of all intervals.

[0035] Furthermore, a response motion model of the vertical pitch mechanism is constructed according to the error reference index and the angle motion stability index, the speed motion stability index and the distance motion stability index, and a response motion index of the vertical pitch mechanism is generated, and the formula based on which is as follows:

[0036]

[0037] Among them, RES is the response motion index, ES is the speed motion stability index, QS is the angle motion stability index, RS is the distance motion stability index, μ is the preset proportional coefficient, and ∈ is the mean of the error reference index of all intervals;

[0038] The response motion index RES is compared with the preset stability threshold R threshold For comparison:

[0039] If ES≤R threshold , then it is judged that the vertical pitch mechanism motion is stable;

[0040] If RES>R threshold , then it is judged that the vertical pitch mechanism motion is unstable.

[0041] The present invention further provides a system for identifying an error in the pitch motion of a robot arm, wherein the system for identifying an error in the pitch motion of a robot arm is used to execute the above-mentioned method for identifying an error in the pitch motion of a robot arm, and comprises:

[0042] A parameter acquisition module is used to acquire the motion timing data of the vertical pitch mechanism of the robot arm during the most recent pitch motion control process, wherein the motion timing data includes the pitch angle data, the pitch angular velocity data and the effective distance data of the vertical pitch mechanism, and acquire the desired motion parameters of the pitch motion control;

[0043] The data calculation module is used to divide the time length of the motion time series data into n time intervals, calculate the pitch angle acceleration, pitch angle change and effective distance change of each interval, and establish an error identification model in combination with the expected motion parameters to form an error reference index for each interval;

[0044] An index generation module, used to generate an angle motion stability index, a speed motion stability index and a distance motion stability index according to the pitch angle change, the pitch angle acceleration and the effective distance change in all time intervals;

[0045] The comprehensive evaluation module is used to construct a response motion model of the vertical pitch mechanism according to the error reference index, the angle motion stability index, the speed motion stability index and the distance motion stability index, generate the response motion index of the vertical pitch mechanism, and judge the motion stability of the vertical pitch mechanism according to the response motion index.

[0046] The present invention further provides a robotic arm, the pitch motion of the robotic arm is identified using the above-mentioned error identification method for the pitch motion of the robotic arm.

[0047] Compared with the prior art, the present invention has the following beneficial effects:

[0048] The present invention establishes a dynamic error identification model by systematically acquiring motion timing data and combining it with expected motion parameters. This method can calculate the pitch angular acceleration, displacement change and effective distance change in real time, so as to accurately evaluate the motion stability. By generating a response motion index and comparing it with a preset stability threshold, the method effectively realizes real-time monitoring and control of motion errors, and significantly improves the operating accuracy and stability of the vertical pitch mechanism in various dynamic environments. In addition, in practical applications, the method can quickly identify and adjust unstable motion behaviors, reduce operational risks, and improve the flexibility and safety of the robot arm. Through this precise error identification mechanism, the performance of the robot arm in complex environments will be more reliable, providing strong technical support for its wide application in the field of automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a schematic diagram of the overall method flow of the present invention;

[0050] Figure 2 It is a schematic diagram of the overall system module of the present invention. DETAILED DESCRIPTION

[0051] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments.

[0052] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0053] Example:

[0054] See also Figure 1 , the present invention provides a technical solution:

[0055] A method for error identification of pitch motion of a robotic arm, the specific steps comprising:

[0056] Step 1: obtaining the motion timing data of the vertical pitch mechanism of the robot arm during the most recent pitch motion control process, wherein the motion timing data includes the pitch angle data, the pitch angular velocity data and the effective distance data of the vertical pitch mechanism, and obtaining the desired motion parameters of the pitch motion control;

[0057] In this embodiment, the expected motion parameters include an expected motion angle, an expected motion distance, and an expected motion time for the robot arm to complete one operation;

[0058] The motion distance change data is defined as the actual distance that the robot arm needs to move during the pitch motion, that is, the displacement of the end effector of the robot arm in space.

[0059] The motion time series data of the vertical pitch mechanism of the robot arm in the most recent pitch motion control process is obtained, and the time intervals of the motion time series data are divided into n time intervals. The time variable range of each time interval is: [t0, t1], [t1, t2], ..., [t i-1 ,t i ], …, [t n-1 ,t n ], t i-1 and ti They represent the starting time variable and the ending time variable of the i-th time interval respectively, and t i -t i-1 =T, T is the length of an interval, and the parameters are collected according to the following method:

[0060] The pitch angular velocity ω is measured using an inertial measurement unit; the measured distance d is obtained using a laser rangefinder;

[0061] Use the visual sensor to obtain the pitch angle θ actual .

[0062] The main advantage of step 1 is that it comprehensively and systematically obtains the motion timing data of the robot during the pitch motion. This step not only includes the pitch angle change, angular acceleration and motion distance change data, but also introduces the acquisition of the expected motion parameters to ensure the accuracy of the motion process. Compared with the existing technology, traditional methods often lack comprehensive monitoring of the entire motion process, while step 1 can more accurately reflect the actual motion state of the robot through multi-dimensional data collection, providing a solid foundation for subsequent error identification and motion stability analysis.

[0063] Compared with the existing technology, step 1 significantly improves the accuracy and reliability of pitch error identification. Traditional methods usually rely on a single data source, which makes it difficult to fully evaluate the motion performance of the robot arm and easily leads to omissions and inaccuracies of errors. By integrating a variety of motion timing data and expected motion parameters, step 1 provides rich information for subsequent data analysis and model building, ensuring the scientificity and effectiveness of the error identification model. The application of this method not only enhances the understanding of the dynamic behavior of the vertical pitch mechanism, but also provides a higher real-time monitoring capability for the overall solution, promoting the accuracy and stability of motion control.

[0064] Step 2: Divide the time length of the motion time series data into n time intervals, calculate the pitch angle acceleration, pitch angle change and effective distance change of each interval, and establish an error identification model in combination with the expected motion parameters to form an error reference index for each interval;

[0065] In this embodiment, the pitch angular acceleration of each interval is calculated according to the following formula:

[0066]

[0067] Among them, α i is the pitch acceleration of the ith time interval, indicating the rate of change of the pitch velocity; T is the length of an interval, t i The pitch angular velocity at time, t i-1 The pitch angular velocity at the moment;

[0068] The pitch angle change in each interval is calculated according to the following formula:

[0069]

[0070] Among them, Δθ i represents the pitch angle change in the i-th interval, Indicates t i The pitch angle at the moment, Indicates t i-1 The pitch angle at the moment;

[0071] The effective distance change of each interval is calculated according to the following formula:

[0072]

[0073] Where, Δd i represents the effective distance change in the i-th time interval, Indicates t i The effective distance at the moment, Indicates t i-1 The effective distance at the moment is the distance between the sensor and the target object. The target object refers to the object or workpiece that the robot arm performs the task during operation. Specifically, the target object is the specific object that interacts with the robot arm.

[0074] The error identification model is established in combination with the expected motion parameters, and the error reference index of each interval is calculated after dimension removal according to the following formula:

[0075]

[0076] Among them, ∈ i is the error reference index of the ith interval, α i is the pitch angular acceleration of the ith interval, Δθ i represents the pitch angle change in the i-th interval, Δd i represents the effective distance change in the ith interval, A is the expected movement time, B is the expected movement angle, D is the expected movement distance, n is the number of intervals, K1, K2, K3 are proportional coefficients, and K3>K2>K1>0. This is because the effective distance change has the greatest impact on the operation. The grasping and movement capabilities of the robot arm are directly dependent on the distance to the target object. When errors caused by distance changes occur, it will cause obvious problems, such as grasping failure or position offset. The pitch angle change determines the precision control of the robot arm. Especially in high-precision operation tasks, changes in angles may cause large errors. The pitch angle acceleration involves the dynamic performance of the robot arm. Although it is important, it may have little effect on errors in instantaneous motion.

[0077] The main advantage of step 2 is that it divides the motion time series data into multiple time intervals, so that the motion characteristics in each time period can be analyzed in detail. This subdivision method makes the calculation of pitch angle acceleration, position change and effective distance change more accurate, and can capture instantaneous changes during the motion process. This not only improves the resolution of data analysis, but also makes the establishment of subsequent error identification models more scientific and reliable. Through this refined analysis method, fluctuations and anomalies in the motion process can be effectively identified and quantified, improving the overall identification accuracy.

[0078] Compared with the existing technology, step 2 significantly enhances the processing capability of dynamic data by subdividing the time interval. Traditional methods often use average or overall analysis, which cannot fully reflect the subtle changes in the motion process and may lead to the neglect or underestimation of errors. The implementation of step 2 enables the motion characteristics of each time interval to be analyzed independently, thereby forming a more accurate error reference index. The introduction of this process not only improves the accuracy and reliability of the overall solution, but also provides a more solid foundation for subsequent motion stability judgment, thereby further promoting the control capability and performance optimization of the vertical pitch mechanism in complex environments.

[0079] Step 3: Generate the angle motion stability index, speed motion stability index and distance motion stability index respectively according to the pitch angle change, pitch angle acceleration and effective distance change in all time intervals;

[0080] In this embodiment, the angle motion stability index, speed motion stability index and distance motion stability index are generated according to the pitch angle change, angular acceleration change and motion distance change in all time intervals, respectively, and the formulas used are as follows:

[0081]

[0082] Where QS is the angular motion stability index, n is the number of intervals, Δθ i represents the pitch angle change in the i-th interval, Represents the mean value of the pitch angle change in all intervals;

[0083]

[0084] Among them, ES is the speed motion stability index, n is the number of intervals, α i is the pitch angular acceleration of the ith interval, represents the mean value of pitch angular acceleration in all intervals;

[0085]

[0086] Among them, RS is the distance motion stability index, n is the number of intervals, Δd i represents the effective distance change of the i-th interval, Represents the mean of the effective distance changes of all intervals.

[0087] The main advantage of step 3 is that it can provide a multi-dimensional stability assessment for motion control by calculating the angular motion stability index, velocity motion stability index, and distance motion stability index of the time interval. This comprehensive analysis allows the performance of the vertical pitch mechanism during the motion process to be effectively quantified, helping engineers identify and optimize the control performance under different motion states. By generating different stability indices, it is possible to more clearly understand which factors have a significant impact on the stability of the motion.

[0088] Compared with the existing technology, the implementation of step 3 significantly improves the ability to comprehensively evaluate motion stability. Traditional methods often rely on only a single indicator to judge motion stability, which may not fully consider the complexity of various motion states. Step 3 provides a more detailed and comprehensive analysis method by introducing multiple stability indexes, making the performance evaluation of the vertical pitch mechanism in a dynamic environment more scientific and accurate. The introduction of this process not only enhances the practicality of the overall solution, but also lays the foundation for subsequent data analysis and optimization of control strategies, which helps to improve the adaptability and reliability of the vertical pitch mechanism in various application scenarios.

[0089] Step 4: construct a response motion model of the vertical pitch mechanism according to the error reference index, the angle motion stability index, the speed motion stability index and the distance motion stability index, generate a response motion index of the vertical pitch mechanism, and judge the motion stability of the vertical pitch mechanism according to the response motion index;

[0090] In this embodiment, a response motion model of the vertical pitch mechanism is constructed according to the error reference index and the angle motion stability index, the acceleration motion stability index and the distance motion stability index, and a response motion index of the vertical pitch mechanism is generated, and the formula based on which is as follows:

[0091]

[0092] Among them, RES is the response motion index, ES is the speed motion stability index, QS is the angle motion stability index, RS is the distance motion stability index, μ is the preset proportional coefficient, and the value range is (0,10]. The selection of the specific value should be based on the analysis of experimental data or historical data. ∈ is the mean of the error reference index of all intervals. When ES decreases, it means that the motion is smoother, indicating higher stability, so the response motion index RES increases accordingly. When QS decreases, it means that the stability of the pitch angle change increases, which means that the pitch angle change is smoother, so RES increases accordingly. When RS decreases, it means that it is more stable in the change of the distance of the target object, so RES increases accordingly. When ∈ increases, it means that the overall error increases, which usually leads to a decrease in the stability of the system. Therefore, the response motion index RES decreases accordingly; that is, ES, QS, RS, ∈ and the response motion index RES are negatively correlated.

[0093] The response motion index RES is compared with the preset stability threshold R threshold For comparison:

[0094] If RES ≤ R threshold , then it is judged that the vertical pitch mechanism motion is stable;

[0095] If RES>R threshold , then it is judged that the vertical pitch mechanism motion is unstable.

[0096] The main advantage of step 4 is that by constructing the response motion model of the vertical pitch mechanism, the error reference index and different motion stability indexes are comprehensively considered to generate a more accurate response motion index. This comprehensive model can effectively describe the dynamic characteristics of the vertical pitch mechanism during motion and provide a quantitative method for judging motion stability. Through this analysis, potential motion anomalies can be better identified and provide a basis for optimizing control strategies.

[0097] Compared with the existing technology, step 4 significantly improves the overall understanding of the behavior of the dynamic system by introducing the response motion model. Traditional motion stability judgment often relies on a single static or linear analysis, which may not fully capture the complex behavior of the system in a dynamic environment. The implementation of step 4 enables a more comprehensive evaluation of the motion characteristics of the vertical pitch mechanism, which can respond to changes in the motion process in a timely manner. The introduction of this process not only improves the accuracy and applicability of the overall solution, but also provides a solid theoretical foundation for subsequent control system design and performance optimization, thereby enhancing the reliability and effectiveness of the vertical pitch mechanism in practical applications.

[0098] See also Figure 2 , an error identification system for pitch motion of a robotic arm, comprising:

[0099] A parameter acquisition module is used to acquire the motion timing data of the vertical pitch mechanism of the robot arm during the most recent pitch motion control process, wherein the motion timing data includes the pitch angle data, the pitch angular velocity data and the effective distance data of the vertical pitch mechanism, and acquire the desired motion parameters of the pitch motion control;

[0100] The data calculation module is used to divide the time length of the motion time series data into n time intervals, calculate the pitch angle acceleration, pitch angle change and effective distance change of each interval, and establish an error identification model in combination with the expected motion parameters to form an error reference index for each interval;

[0101] An index generation module, used to generate an angle motion stability index, a speed motion stability index and a distance motion stability index according to the pitch angle change, the pitch angle acceleration and the effective distance change in all time intervals;

[0102] The comprehensive evaluation module is used to construct a response motion model of the vertical pitch mechanism according to the error reference index, the angle motion stability index, the speed motion stability index and the distance motion stability index, generate the response motion index of the vertical pitch mechanism, and judge the motion stability of the vertical pitch mechanism according to the response motion index.

[0103] The present invention further provides a robotic arm, the pitch motion of the robotic arm is identified using the above-mentioned error identification method for the pitch motion of the robotic arm.

[0104] The above formulas are all dimensionless and numerical calculations. The formula is a formula for the most recent real situation obtained by collecting a large amount of data and performing software simulation. The preset parameters in the formula are set by technicians in this field according to actual conditions.

[0105] The above embodiments may be implemented in whole or in part by software, hardware, firmware or any other combination thereof. When implemented by software, the above embodiments may be implemented in whole or in part in the form of a computer program product. Those skilled in the art may appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein may be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed by hardware or software methods depends on the specific application and design constraints of the technical solution.

[0106] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, and may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0107] The above description is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

Claims

1. A method for error identification of pitch motion of a robotic arm, characterized in that: The specific steps include: Step 1: obtaining the motion timing data of the vertical pitch mechanism of the robot arm during the most recent pitch motion control process, wherein the motion timing data includes the pitch angle data, the pitch angular velocity data and the effective distance data of the vertical pitch mechanism, and obtaining the desired motion parameters of the pitch motion control; Step 2: Divide the time length of the motion time series data into n time intervals, calculate the pitch angle acceleration, pitch angle change and effective distance change of each interval, and establish an error identification model in combination with the expected motion parameters to form an error reference index for each interval; Step 3: Generate the angle motion stability index, speed motion stability index and distance motion stability index respectively according to the pitch angle change, pitch angle acceleration and effective distance change in all time intervals; Step 4: Construct a response motion model of the vertical pitch mechanism according to the error reference index, the angle motion stability index, the speed motion stability index and the distance motion stability index, generate a response motion index of the vertical pitch mechanism, and judge the motion stability of the vertical pitch mechanism according to the response motion index.

2. The error identification method of a mechanical arm pitch motion according to claim 1, characterized in that: The expected motion parameters include the expected motion angle, expected motion distance and expected motion time for the robot arm to complete one operation; The motion time series data of the vertical pitch mechanism of the robot arm in the most recent pitch motion control process is obtained, and the motion time series data is divided into n time intervals with equal time intervals. The time variable range of each time interval is: [t0, t1], [t1, t2], ..., [t i-1 , t i ], …, [t n-1 , t n ], t i-1 and t i They represent the starting time variable and the ending time variable of the i-th time interval respectively, and t i -t i-1 =T, T is the length of an interval, and the parameters are collected according to the following method: The pitch angular velocity ω is measured using an inertial measurement unit; the measured distance d is obtained using a laser rangefinder; Use the visual sensor to obtain the pitch angle θ actual .

3. The error identification method of a mechanical arm pitch motion according to claim 2, characterized in that: The pitch acceleration of each interval is calculated according to the following formula: Among them, α i is the pitch acceleration of the ith time interval, indicating the rate of change of the pitch velocity; T is the length of an interval, t i The pitch angular velocity at time, t i-1 The pitch angular velocity at the moment; The pitch angle change in each interval is calculated according to the following formula: Among them, Δθ i represents the pitch angle change in the i-th interval, Indicates t i The pitch angle at the moment, Indicates t i-1 The pitch angle at the moment; The effective distance change of each interval is calculated according to the following formula: Where, Δd i represents the effective distance change in the i-th time interval, Indicates t i The effective distance at the moment, Indicates t i-1 The effective distance at the moment is the distance between the sensor and the target object.

4. The error identification method of a mechanical arm pitch motion according to claim 1, characterized in that: The error identification model is established in combination with the expected motion parameters, and the error reference index of each interval is calculated after dimension removal according to the following formula: Among them, ∈ i is the error reference index of the ith interval, α i is the pitch angular acceleration of the ith interval, Δθ i represents the pitch angle change in the i-th interval, Δd i It represents the effective distance change of the i-th interval, A is the expected movement time, B is the expected movement angle, D is the expected movement distance, n is the number of intervals, K1, K2, K3 are proportional coefficients, and K3>K2>K1>0.

5. The error identification method of a mechanical arm pitch motion according to claim 1, characterized in that: According to the pitch angle change, pitch angle acceleration and effective distance change in all time intervals, the angle motion stability index, velocity motion stability index and distance motion stability index are generated respectively, and the formulas are as follows: Where QS is the angular motion stability index, n is the number of intervals, Δθ i represents the pitch angle change in the i-th interval, Represents the mean value of the pitch angle change in all intervals; Among them, ES is the speed motion stability index, n is the number of intervals, α i is the pitch angular acceleration of the ith interval, represents the mean value of the pitch angular acceleration in all intervals; Among them, RS is the distance motion stability index, n is the number of intervals, Δd i represents the effective distance change of the i-th interval, Represents the mean of the effective distance changes of all intervals.

6. The error identification method of a mechanical arm pitch motion according to claim 1, characterized in that: The response motion model of the vertical pitch mechanism is constructed according to the error reference index and the angle motion stability index, the speed motion stability index and the distance motion stability index, and the response motion index of the vertical pitch mechanism is generated. The formula based on it is as follows: Among them, RES is the response motion index, ES is the speed motion stability index, QS is the angle motion stability index, RS is the distance motion stability index, μ is the preset proportional coefficient, and ∈ is the mean of the error reference index of all intervals; The response motion index RES is compared with the preset stability threshold R threshold For comparison: If RES ≤ R threshold , then it is judged that the vertical pitch mechanism motion is stable; If RES>R threshold , then it is judged that the vertical pitch mechanism motion is unstable.

7. An error identification system for pitch motion of a robotic arm, characterized in that: The error identification system for the pitch motion of a robotic arm is used to execute the error identification method for the pitch motion of a robotic arm as claimed in any one of claims 1 to 6, comprising: A parameter acquisition module is used to acquire the motion timing data of the vertical pitch mechanism of the robot arm during the most recent pitch motion control process, wherein the motion timing data includes the pitch angle data, the pitch angular velocity data and the effective distance data of the vertical pitch mechanism, and acquire the desired motion parameters of the pitch motion control; The data calculation module is used to divide the time length of the motion time series data into n time intervals, calculate the pitch angle acceleration, pitch angle change and effective distance change in each interval, and establish an error identification model in combination with the expected motion parameters to form an error reference index for each interval; An index generation module, used to generate an angle motion stability index, a speed motion stability index and a distance motion stability index according to the pitch angle change, the pitch angle acceleration and the effective distance change in all time intervals; The comprehensive evaluation module is used to construct a response motion model of the vertical pitch mechanism according to the error reference index, the angle motion stability index, the speed motion stability index and the distance motion stability index, generate the response motion index of the vertical pitch mechanism, and judge the motion stability of the vertical pitch mechanism according to the response motion index.

8. A robotic arm, characterized in that: The pitch motion of the robotic arm is identified using the error identification method for the pitch motion of the robotic arm described in any one of claims 1-6.

Images