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Identification method of six-degree-of-freedom serial robot tail-end load kinetic parameters

A technology of dynamic parameters and identification method, which is applied in the field of identification of dynamic parameters of the terminal load of a six-degree-of-freedom serial robot, can solve the problems of dynamic parameter solutions not meeting constraints, high algorithm complexity, and link mass less than zero.

Active Publication Date: 2018-06-29
HUAZHONG UNIV OF SCI & TECH
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Problems solved by technology

[0004] At present, the load parameter identification method of the six-degree-of-freedom serial robot mainly adopts the least square method or the improved least square method to obtain the high-order regression equation. This process requires high-order matrix inversion operations, and the algorithm complexity is high. Zero or kinetic parameter solutions for problems that do not satisfy constraints

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  • Identification method of six-degree-of-freedom serial robot tail-end load kinetic parameters
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  • Identification method of six-degree-of-freedom serial robot tail-end load kinetic parameters

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[0051] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0052] The present invention takes Huazhong CNC 6008 six-degree-of-freedom serial robot as an example, and the structure of the six-degree-of-freedom serial robot is as follows: figure 1 As shown in Table 1, the connecting rod parameters of the six-degree-of-freedom series robot are shown in Table 1. In Table 1, i represents the i-th joint of the robot, and a i-1 Indicates the axis z of the jo...

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Abstract

The present invention belongs to the field of six-degree-of-freedom serial robots, and discloses an identification method of six-degree-of-freedom serial robot tail-end load kinetic parameters. The method comprises the following steps of: 1) establishing a kinetic model of a six-degree-of-freedom serial robot; 2) recording an angle, an angular speed and an angular acceleration of the six-degree-of-freedom serial robot in the motion process, and collecting the motor current information of each joint; 3) obtaining the moment of each joint when the six-degree-of-freedom serial robot is no-load and the actual load moment of each joint when the six-degree-of-freedom serial robot is operated; 4) obtaining the theoretical load moment of each joint with load kinetic parameters; and 5) comparing the actual load moments with the theoretical load moments, and solving load kinetic parameters. The identification method of six-degree-of-freedom serial robot tail-end load kinetic parameters greatly reduces the complexity of multi-freedom geometric method analysis, can effectively simplify the algorithm, can improve the operation speed, and employs a dynamic particle swarm algorithm with a crossover and variation function to effectively prevent particles from falling into a locally optimal solution so as to improve the algorithm accuracy.

Description

technical field [0001] The invention belongs to the field of six-degree-of-freedom series robots, and more specifically relates to an identification method for dynamic parameters of terminal loads of six-degree-of-freedom series robots. Background technique [0002] Establishing an accurate six-degree-of-freedom serial robot dynamic model is an important condition for the high-precision control of multi-joint six-degree-of-freedom serial robots and manipulators, the improvement of system performance, and the application of high-reliability controllers. The accuracy of the six-degree-of-freedom serial robot model depends on the accuracy of the inertia parameters of each link and the load inertia of the six-degree-of-freedom serial robot. In practical applications, the inertial parameters of each link of the six-DOF series robot will not change with the change of the load after measurement. Therefore, it is only necessary to identify the load when the load changes to obtain th...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 宋宝陶婕妤叶伯生周向东唐小琦熊硕王昌杰郭艺璇尹超朱倩
Owner HUAZHONG UNIV OF SCI & TECH
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