Method and device for synchronous testing of joint motor torque coefficient and friction force of robot

Abstract

The present invention proposes a method and device for synchronously testing the torque coefficient and friction of a robot's joint motor. The method includes: calculating the analytical expression of the driving torque of the driving joint of the robot according to the dynamic model of the robot and the structural parameters of the robot; The experimental data is input into the analytical expression of the driving torque to obtain the forward torque and reverse torque, and the driving current is fitted to obtain the slope and intercept of the fitted linear function at different experimental positions; combined with the ratio of the reduction ratio of the joint to be tested to obtain the The motor torque coefficient when the joint is moving forward and reverse, and the intercept is taken as the opposite number to obtain the friction coefficient when the joint to be tested is moving forward and reverse; calculate the motor torque coefficient and friction coefficient of different experimental positions The average value is used to obtain the target torque coefficient and target friction value of the joint to be tested during forward and reverse motion. Thus, the synchronous test of the joint motor torque coefficient and the forward and reverse friction coefficient is realized, and the test accuracy is improved.

Description

technical field [0001] The invention discloses a method and device for synchronously testing the torque coefficient and friction force of a robot joint motor, and particularly relates to the technical field of industrial robot dynamics and control. Background technique [0002] Industrial robots are important equipment widely used in various industrial manufacturing fields. They can operate efficiently and accurately in dangerous and harsh working environments, and are the cornerstone of automated production. In order to improve the comprehensive performance of industrial robots, in the aspects of robot performance evaluation, optimization design, control algorithm development, parameter setting, etc., there are high requirements for the accuracy of the robot's "control-drive-motor-mechanical" electromechanical system model. Some of the key parameters that cannot be obtained directly or are not accurate enough need to be tested to obtain accurate values. [0003] From the p...

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Problems solved by technology

The design value of the motor torque coefficient is generally marked on the motor nameplate, but when the robot is used in industrial scenarios such as surface spraying and machining, the operating environment is relatively harsh, and it is affected by factors such as dust, temperature and humidity changes, and the quality of mechanical structure assembly. , the torque coefficient of the joint motor often has a certain deviation from the design value, and the different rotation directions of the motor may also cause changes

[0004] The driving torque is the force driving the operation of the mechanical structure, which can be obtained through theoretical modeling of robot dynamics. The related methods are relatively mature, but it is difficult to accurately obtain the friction force of the joint during actual operation through theoretical modeling. There is a large gap between the behavior and the theoretical dynamic model, and the friction coefficient of the joint should also be tested before applying the dynamic model

[0005] Usually, a dynamometer can be used to measure the torque coefficient of the motor before installation, and then test the friction model of the robot joint after installation based on the coefficient and the dynamic model, but this method does not take into account the mechanical The influence of assembly and operating environment on motor parameters, and the steps are cumbersome, cannot meet the needs of rapid parameter correction after the robot is installed and running for a period of time or after the working environment changes

[0006] At present, there is still a lack of relevant research on the test and correction of the torque coefficient of the drive motor in industrial robots in practical applications. The rapid test of the motor torque coefficient and joint friction for the robot body needs to be improved. In order to meet the needs of accurate modeling of the electromechanical system , it is urgent to propose a robot-oriented joint motor torque coefficient and friction synchronization test method

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