Robot Motion Terrain Planning for Accurate Dynamics Identification
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Solution Overview
Problem
Existing methods for identifying dynamics parameters of mobile robots fail to account for the influence of motion terrain, leading to poor accuracy and efficiency in parameter identification.
Innovation Solution
A method involving determining sine and cosine parameters for robot joints based on constraint conditions, calculating motion trajectories, and identifying motion terrain to improve accuracy and efficiency of dynamics parameter identification.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If existing environmental terrain is used as motion terrain for dynamics parameter identification, then the identification process is simple to implement, but the accuracy and efficiency of dynamics parameter identification deteriorates
Solution Approach 1:
The patent applies preliminary action by pre-planning and constructing specific motion terrain before dynamics parameter identification. The system designs predetermined motion trajectories and terrain characteristics that are optimized for parameter identification, rather than using arbitrary environmental terrain. This preparatory construction of motion terrain ensures that the subsequent identification process achieves high accuracy while maintaining implementation feasibility.
2Ease of manufacture
If existing environmental terrain is used as motion terrain for dynamics parameter identification, then the implementation process is simple, but the efficiency of dynamics parameter identification deteriorates
Solution Approach 1:
The patent applies dynamics by constructing motion terrain that incorporates dynamic characteristics and variations. The motion terrain is designed with changing parameters and trajectories that dynamically stimulate the robot system, enabling more efficient excitation of dynamic behaviors during identification. This dynamic approach accelerates the convergence of parameter identification algorithms and improves overall identification efficiency.
3Measurement precision
If motion terrain is constructed for dynamics parameter identification, then the accuracy and efficiency of identification is improved, but the complexity of the identification system increases
Solution Approach 1:
The patent applies universality by designing motion terrain construction methods that can be applied across different robot types and identification scenarios. The framework provides universal procedures for terrain generation, trajectory planning, and parameter extraction that work across multiple applications. This multi-functionality reduces the need for specialized complex systems for each specific identification task, thereby managing system complexity while maintaining high accuracy and efficiency.
Data Source
AI summary
A motion terrain determining method, a robot, and a computer-readable storage medium are provided. The method includes: determining each sine parameter and each cosine parameter corresponding to a target joint in a plurality of joints of the robot according to one or more constraint conditions; determining a motion trajectory of the robot according to the sine parameter and the cosine parameter corresponding to the target joint; and determining a motion terrain of the robot according to the motion trajectory. In this manner, the best motion terrain can be obtained, and the robot is controlled to move on the determined motion terrain when determining the dynamics parameters of the robot, where the obtained dynamics parameters are more accurate to effectively improve the efficiency of the identification of the dynamics parameters.