Robot flexible joint friction force analysis and modeling method

A technology of flexible joints and modeling methods, applied in the field of robotics, can solve the problems of low accuracy of dynamic models, achieve the effect of improving control accuracy and stability, and improving accuracy

Pending Publication Date: 2022-07-29
HEFEI UNIV OF TECH
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Problems solved by technology

[0004] In order to solve the problem of low accuracy of the dynamic model of the friction force of the existing robot joints, the present invention provides a method for analyzing and modeling the friction force of the flexible joints of the robot

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  • Robot flexible joint friction force analysis and modeling method
  • Robot flexible joint friction force analysis and modeling method
  • Robot flexible joint friction force analysis and modeling method

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Embodiment 1

[0087] see figure 1 , which is a flowchart of the method for analyzing and modeling the friction force of a flexible joint of a robot in this embodiment. The method for analyzing and modeling the friction force of the robot flexible joint includes the following steps, namely S1-S7.

[0088] S1: Collect the state data of the robot's flexible joints. Status data includes: overall status data, motor status data, load status data and flexible transmission element status data. The overall state data includes generalized coordinates, generalized velocity, generalized acceleration, joint rotation angle, joint angular velocity, joint angular acceleration, joint motion velocity, flexible joint radius, static friction coefficient, Coulomb friction coefficient and viscous friction coefficient; motor state data includes the input of the motor Torque, rotation angle of the motor end, angular velocity of the motor end, angular acceleration of the motor end, moment of inertia of the motor ...

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Abstract

The invention discloses a robot flexible joint friction force analysis and modeling method. The detailed process is as follows: S1, collecting state data of the flexible joint of the robot; s2, establishing an unconstrained dynamic model of the robot flexible joint dual-mass system; s3, introducing constraint conditions into the unconstrained acting force model, and establishing a constraint force model based on a U-K equation; s4, introducing an ideal constraint and a non-ideal constraint to obtain an actual constraint force model; s5, decomposing the unconstrained moment into a tangential moment and a normal moment which are tangent to and perpendicular to the joint surface, and analyzing an actual normal force; s6, introducing the actual normal force into a friction force expression to obtain a friction torque; and S7, the friction torque is introduced into the unconstrained dynamic model of the robot flexible joint dual-mass system, and a dynamic model of the robot flexible joint containing friction force is established. According to the method, the robot flexible joint dynamic model considering the friction force characteristic is established, and the precision of robot flexible joint motion analysis is improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a method for analyzing and modeling the friction force of a flexible joint of a robot. Background technique [0002] With the wide application of industrial robots, the requirements for the applicable conditions, control accuracy, and operation stability of robots are also more stringent. Among them, the joint friction force is one of the main factors affecting the control accuracy of the robot. Since flexible joints transmit motion and power by elastic deformation of flexible transmission elements, nonlinear friction effects are prominent at low speeds. Non-linear friction may cause limit cycle oscillation, low-speed crawling, sluggish motion and other phenomena. Therefore, the problem of nonlinear joint friction should not be underestimated. [0003] In the prior art, there is still a lack of a relatively accurate dynamic model for the friction force of the robot flexible join...

Claims

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Application Information

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IPC IPC(8): G06F30/20G06F30/17G06F111/04G06F119/14
CPCG06F30/20G06F30/17G06F2119/14G06F2111/04
Inventor 董方方何加健韩江赵晓敏陈珊
Owner HEFEI UNIV OF TECH
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