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Method for recognizing loads of industrial robot

An industrial robot and identification method technology, applied in the field of industrial robot load identification, can solve problems such as long adjustment time, and achieve the effects of ensuring acceleration and solving excessive adjustment time.

Inactive Publication Date: 2016-06-08
SHENYANG SIASUN ROBOT & AUTOMATION
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AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problem that industrial robots need to go through multiple intermediate poses in application, and in order to ensure that the adjustment time of industrial robots is too long when the load changes drastically during motion, an industrial robot load identification is proposed method

Method used

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  • Method for recognizing loads of industrial robot
  • Method for recognizing loads of industrial robot
  • Method for recognizing loads of industrial robot

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Embodiment Construction

[0015] The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0016] Such as figure 1 As shown, it is a flow chart of an industrial robot load identification method of the present invention, and the specific steps are:

[0017] S10: Input the dynamics module into the robot control, and solve the real-time torque value.

[0018] Specifically, by applying the dynamic equation of the industrial robot, the dynamic module is input into the robot controller. The real-time torque value is obtained through the angle and angular velocity variation of each joint during the robot's completion of the task. The overall kinetic formula is as follows:

[0019] [ f i τ j ] = I j A ξ ...

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Abstract

The invention provides a method for recognizing loads of an industrial robot. The method includes the steps that a dynamical equation is input into a dynamics module in a robot controller, and a real-time moment value is obtained; a theoretical current value is worked out according to the real-time moment value; a measured current value and the theoretical current value are compared; if the measured current value and the theoretical current value do not differ much, a motor controls the robot based on a prior control parameter value; and when the measured current value is increased suddenly, the control parameter value of the motor is changed, and the motor controls the robot based on the changed control parameter value. The method can set the control parameters of the industrial robot to be more reasonably under high precision; accordingly, the problem that the regulation time is too long after loads are increased during application of the industrial robot can be solved, and it is ensured that acceleration of the industrial robot has no jerking movement in the moving process.

Description

technical field [0001] The invention belongs to the technical field of robots, and specifically relates to a method for identifying loads of industrial robots. Background technique [0002] With the development of science and technology, robot technology is also constantly improving, and the application fields of industrial robots are becoming more and more extensive. In industrial production, industrial robots are widely used in handling, welding, painting, assembly and other fields. When an industrial robot is used for different loads, since the output power of the robot drive does not match the load, it will inevitably cause vibration, which will cause the robot to wear itself and cause operational errors, reducing the accuracy and safety of the robot's work. Contents of the invention [0003] The purpose of the present invention is to solve the problem that industrial robots need to go through multiple intermediate poses in application, and in order to ensure that the...

Claims

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Application Information

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IPC IPC(8): B25J13/08
Inventor 徐方张勇曲道奎李学威邹风山张峰
Owner SHENYANG SIASUN ROBOT & AUTOMATION
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