Identification method for kinetic parameters of robot

Abstract

The invention discloses an identification method for kinetic parameters of a robot. The identification method comprises the following steps: S1, collecting joint motion data when multiple groups of robots execute an excitation track as a training set; s2, calculating a corresponding theoretical joint torque under the training set data according to the established kinetic model, calculating a mean square error between the theoretical joint torque and the collected measurement joint torque, and defining the mean square error as a loss function; s3, in each round of training, calculating the gradient of the loss function about the kinetic parameters based on a back propagation algorithm; and S4, performing iterative training on the kinetic parameters along the negative gradient direction of the loss function, gradually reducing the loss function along with training, and when the loss function is converged to a minimum value, storing the corresponding kinetic parameters at the moment as an identification result to complete parameter identification. According to the method, the parameter identification precision is improved, and the problems that the least square method is susceptible to noise interference and can only identify linear system parameters are solved.

Description

Technical field [0001] The present invention belongs to the field of robotic control involving a method of identifying robot kinetic parameters. Background technique [0002] The kinetic model is a mathematical model that describes the relationship between the driving torque and kinetic parameters of the robot movement, and the kinematic parameters can be obtained by calibration, while kinetic parameters and joint internal friction and adjacent joints. Inter-inter-coupling effects are generally difficult to obtain directly. The control of the dynamic model is also an effective method for realizing high-speed high-precision control of robots, so it is important to design a kinetic parameter identification method with sufficient accuracy and easy to identify. [0003] The kinetic parameter identification method can generally be divided into three types, the disintegration measurement method and the CAD measurement method ignore the dynamic characteristics and joints between the rob...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a method for identifying robot dynamics parameters based on the backpropagation learning algorithm, which aims to overcome the deficiencies of the prior art, solve the problem that parameter identification is susceptible to noise interference, and achieve high-precision and concise dynamics Parameter identification, in order to improve the dynamic model and parameter identification of the robot, for force control and human-computer interaction tasks of the robot

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