CN107016207A - The industrial robot loading kinetics parameter identification method moved based on particular joint - Google Patents
The industrial robot loading kinetics parameter identification method moved based on particular joint Download PDFInfo
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- CN107016207A CN107016207A CN201710250005.3A CN201710250005A CN107016207A CN 107016207 A CN107016207 A CN 107016207A CN 201710250005 A CN201710250005 A CN 201710250005A CN 107016207 A CN107016207 A CN 107016207A
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Abstract
The present invention proposes a kind of industrial robot loading kinetics parameter identification method moved based on particular joint, including：Set up industrial robot loading kinetics parameter model；According to the industrial robot loading kinetics parameter model, design weight identification track and inertia identification track；Track and inertia identification track are recognized according to gravity, gathers and handles load torque identification exercise data gravity identification motion and moved with inertia identification, by motion process joint kinematic parameter and driving moment parameter, loading kinetics parameter can be obtained.The present invention under the conditions of the kinetic parameter independent of robot body, can independently obtain load weight, centroid position, rotary inertia parameter, can be applied to high performance control of the robot based on model by the joint motions of particular design.
Description
Technical field
The present invention relates to Industrial Robot Technology field, more particularly to a kind of industrial robot moved based on particular joint
Loading kinetics parameter identification method.
Background technology
Industrial robot has turned into flexible indispensable of improving production efficiency and production line in industrial automation process
Instrument.With the extension of quality standard and application scenarios, the performance to industrial robot proposes higher and higher requirement.It is mobile
Speed and precision are to weigh the two class leading indicators of robot performance, and it is complicated to influence the key factors of the two leading indicators
Robot dynamics's characteristic.Influence of the dynamics to robot can be described by kinetic model, kinetic model
The relation set up between joint drive power and motion, the more easy accurate control of kinetic characteristic of the more accurate then robot of the relation.
Therefore robot is carried out modeling and accurately obtaining its kinetic parameter comprehensively, its dynamics carried out by control system
Online compensation, is the important technology approach for lifting industrial robot responsiveness and tracking accuracy.
Industrial robot movement structure is made up of two parts in practical application：Robot body and it is connected to robot end
Tool load, referring specifically to schematic diagram 1.In industrial robot field, the dynamic of robot body is not typically paid close attention to or only focused on
Mechanics influence, ignores the influence of loading kinetics factor, but occur with the robot of high capacity-ratio of inertias, loading kinetics
Influence of the factor in robot control is also gradually protruded.
The acquisition of robot loading kinetics parameter can be obtained by design parameter, can also be obtained by recognizing experiment.
Loading kinetics parameter identification refers to, by performing the robot motion with certain characteristic, pass through analysis robot joint drive
Torque is associated with exercise data, with reference to the dynamic information of robot body, obtains the Chemical kinetic parameter estimation of tool load
Value.
Due to the presence of machining deviation, the kinetic parameter such as support structures center of gravity, rotary inertia and actual value there may be
Relatively large deviation, especially for the tool load that configuration is complicated, its dynamics parameter is often difficult to accurate acquisition.Therefore work
The loading kinetics parameter identification technique of industry robot is the important step that its performance is lifted by dynamics.
The content of the invention
The purpose of the present invention is intended at least solve one of described technological deficiency.
Therefore, it is an object of the invention to propose a kind of industrial robot loading kinetics ginseng moved based on particular joint
Number discrimination method.
To achieve these goals, embodiments of the invention provide a kind of industrial robot based on particular joint motion and born
Dynamic parameters identification method is carried, is comprised the following steps：
Step S1, sets up industrial robot loading kinetics parameter model, wherein, the parameter model is：
Wherein, τlinkJoint drive power, τ when being moved for robot bodylinkloadTo there is joint drive power during tool load
Step S2, according to the industrial robot loading kinetics parameter model, design weight identification track and inertia are distinguished
Know track；
Step S3, recognizes track and inertia identification track according to the gravity designed in step S2, gathers and handle load and distinguish
Know exercise data gravity identification motion to move with inertia identification, by motion process joint kinematic parameter and driving moment parameter,
Loading kinetics parameter L=[m, s can be obtainedx,sy,sz,Ixx,Iyy,Izz]T, wherein,
M=fm(d3,d5,τload_30_gravity_+,τload_30_gravity_-,τload_50_gravity_+,τload_50_gravity_-)
sx=fsx(d6,m,τload_50_gravity_+,τload_50_gravity_-)
sy=fsy(m,sx,τload_50_gravity_+,τload_50_gravity_-,τload_51_gravity_+,τload_51_gravity_-)
sz=fsz(m,sx,τload_50_gravity_+,τload_50_gravity_-,τload_51_gravity_+,τload_51_gravity_-)
Ixx=fIxx(m,sy,sz,τload_60_inertial_+,τload_60_inertial_-)
Iyy=fIyy(m,sx,τload_50_inertial_+,τload_50_inertial_-,τload_51_inertial_+,τload_51_inertial_-)
Izz=fIzz(m,sx,τload_50_inertial_+,τload_50_inertial_-,τload_51_inertial_+,τload_51_inertial_-)
Wherein, τload_a_b_cSubscript a represent kinematic axis and movement position, b represents to recognize type of gesture, and c represents speed
Or acceleration is positive and negative.
Further, in the step S1,
Identical movement locus, i.e. q=q are performed before and after installation tool load0=q1 Then have：
L=[m, sx,sy,sz,Ixx,Iyy,Izz]T
Wherein, WloadWhen being connected firmly for load and joint six, the power that load movement is produced to robot end, the power is by loading
Kinetic parameter L and robot end motion VeeTogether decide on, kinetic parameter L is in industrial robot end flange coordinate system
Defined in.
Further, in the step S2, the identification of rotational inertia track, including：Joint is in connecting rod gravity is symmetrical
Moved near the heart；Symmetrical forward direction speed and two motion processes of negative sense speed；In two motions of forward direction speed and negative sense speed
During, uniform acceleration is moved including two respectively；When current joint is moved, other joints are slack.
Further, in the step S2, the gravity identification track includes：Joint is near connecting rod gravity symmetrical centre
When movement locus, forward direction are at the uniform velocity moved with the uniform velocity two main process of negative sense and current joint, other joints are slack.
The industrial robot loading kinetics parameter identification method moved based on particular joint according to embodiments of the present invention,
By the joint motions of particular design, under the conditions of the kinetic parameter independent of robot body, load weight can be independently obtained
Amount, centroid position, rotary inertia parameter, can be applied to high performance control of the robot based on model.The present invention has with following
Beneficial effect：
The axle of identification process Zhi Xu robots 3/5/6 is moved in a small range, and the limitation to space is insensitive, therefore can
It is widely used in task scene to recognize tool load；
The identification process time is short, and identification process need to only gather robot itself joint kinematic parameter, without extra survey
Equipment is measured, cost is small to be easy to application；
The influence of body kinetic parameter is eliminated using track is repeated, Identification Data Processing process removes robot links size number
According to not needing extra robot body kinetic parameter outside, therefore institute's extracting method can be widely applied to the industrial machine of various configuration
Device people's load torque identification.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become from description of the accompanying drawings below to embodiment is combined
Substantially and be readily appreciated that, wherein：
Fig. 1 is industrial robot movement structure figure in practical application in the prior art；
Fig. 2 is the industrial robot loading kinetics parameter identification moved based on particular joint according to the embodiment of the present invention
The flow chart of method；
Fig. 3 is the schematic diagram of robot end's flange coordinate system according to the embodiment of the present invention；
Fig. 4 is the schematic diagram that certain bits shape is according to the robot of the embodiment of the present invention；
Fig. 5 is the schematic diagram that track is recognized according to the gravity of the embodiment of the present invention；
Fig. 6 is the schematic diagram of the identification of rotational inertia track according to the embodiment of the present invention；
Fig. 7 is the schematic diagram of the load torque identification movement locus according to the embodiment of the present invention.
Embodiment
Embodiments of the invention are described below in detail, the example of embodiment is shown in the drawings, wherein identical from beginning to end
Or similar label represents same or similar element or the element with same or like function.Retouched below with reference to accompanying drawing
The embodiment stated is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention.
As shown in Fig. 2 the industrial robot loading kinetics parameter moved based on particular joint of the embodiment of the present invention is distinguished
Knowledge method, comprises the following steps：
Step S1, sets up industrial robot loading kinetics parameter model, wherein, parameter model is：
Wherein, τlinkJoint drive power, τ when being moved for robot bodylinkloadTo there is joint drive power during tool load.
Especially identical movement locus, i.e. q=q are performed before and after installation tool load0=q1 Then have：
L=[m, sx,sy,sz,Ixx,Iyy,Izz]T
Wherein, WloadWhen being connected firmly for load and joint six, the power that load movement is produced to robot end, the power is by loading
Kinetic parameter L and robot end motion VeeTogether decide on, kinetic parameter L is in industrial robot end flange coordinate system
Defined in, with reference to shown in Fig. 3.
In addition, in this step, it may be determined that when robot is in certain bits shape, special simple joint motion and tool load
The relation acted between the power of end：
A. when robot is in the position 0 shown in Fig. 4, there is relation in the motion of 3 axles with loading forces：
B. when robot is in the position 0 shown in Fig. 4, there is relation in the motion of 5 axles with loading forces：
C. when robot is in the position 0 shown in Fig. 4, there is relation in the motion of 6 axles with loading forces：
D. when robot is in the position 1 shown in Fig. 4, there is relation in the motion of 3 axles with loading forces：
E. when robot is in the position 1 shown in Fig. 4, there is relation in the motion of 5 axles with loading forces：
F. when robot is in the position 1 shown in Fig. 4, there is relation in the motion of 6 axles with load：
Step S2, according to industrial robot loading kinetics parameter model, design weight identification track and inertia identification rail
Mark.
By (1)~(8) formula further analysis can obtain, when robot carried out shown in Fig. 1, Fig. 3 near position it is specific
During motion, the relation between the joint loads external force of (3)~(8) formula and the kinetic parameter of load can further clearly, therefore
For the class specific motion state of 3/5/6 joint designs two：Gravity recognizes track and identification of rotational inertia track,
Track is recognized for the gravity shown in Fig. 5, with following feature：Transported near connecting rod gravity symmetrical centre in joint
It is dynamic；Including it is positive at the uniform velocity with the uniform velocity two main process of negative sense；When current joint is moved, other joints are slack.
To the identification of rotational inertia track shown in Fig. 6, with following characteristics：Transported near connecting rod gravity symmetrical centre in joint
It is dynamic；
Including symmetrical forward direction speed and two motion processes of negative sense speed；In two motions of forward direction speed and negative sense speed
During, uniform acceleration is moved including two respectively；When current joint is moved, other joints are slack.
Realized between each single axial movement by S types speed planning, complete load torque identification movement locus is as shown in Figure 7.
Step S3, recognizes track and inertia identification track according to the gravity designed in step S2, gathers and handle load and distinguish
Know exercise data gravity identification motion to move with inertia identification, recognized for gravity of formula (1)~(8) with reference to shown in Fig. 5, Fig. 6
Motion is moved with inertia identification, by motion process joint kinematic parameter and driving moment parameter, can obtain loading kinetics
Parameter L=[m, sx,sy,sz,Ixx,Iyy,Izz]T, wherein,
M=fm(d3,d5,τload_30_gravity_+,τload_30_gravity_-,τload_50_gravity_+,τload_50_gravity_-) (8)
sx=fsx(d6,m,τload_50_gravity_+,τload_50_gravity_-) (9)
sy=fsy(m,sx,τload_50_gravity_+,τload_50_gravity_-,τload_51_gravity_+,τload_51_gravity_-) (10)
sz=fsz(m,sx,τload_50_gravity_+,τload_50_gravity_-,τload_51_gravity_+,τload_51_gravity_-) (11)
Ixx=fIxx(m,sy,sz,τload_60_inertial_+,τload_60_inertial_-) (12)
Iyy=fIyy(m,sx,τload_50_inertial_+,τload_50_inertial_-,τload_51_inertial_+,τload_51_inertial_-) (13)
Izz=fIzz(m,sx,τload_50_inertial_+,τload_50_inertial_-,τload_51_inertial_+,τload_51_inertial_-) (14)
In formula (9)~(15), τload_a_b_cSubscript a represents kinematic axis and movement position, and b represents to recognize type of gesture, c tables
Show that speed or acceleration are positive and negative.
The industrial robot loading kinetics parameter identification method based on particular joint of the embodiment of the present invention, will can bear
The dynamic gravity of carrying, inertia force are equivalent to load the external force of robot end, are transported so as to set up loading kinetics parameter with joint
Dynamic relational model.Also, the present invention realizes that industrial robot load torque identification encourages Trajectory Design, especially by particular design
Gravity identification track, identification of rotational inertia track, by joint drive power during single motion and load parameter independence it is corresponding,
Simplify the relation by joint kinematic parameter and load parameter there is provided load parameter processing method, particularly by particular design track
The method that obtained kinematic parameter handles out load weight, centroid position and main axis inertia.
The industrial robot loading kinetics parameter identification method moved based on particular joint according to embodiments of the present invention,
By the joint motions of particular design, under the conditions of the kinetic parameter independent of robot body, load weight can be independently obtained
Amount, centroid position, rotary inertia parameter, can be applied to high performance control of the robot based on model.The present invention has with following
Beneficial effect：
The axle of identification process Zhi Xu robots 3/5/6 is moved in a small range, and the limitation to space is insensitive, therefore can
It is widely used in task scene to recognize tool load；
The identification process time is short, and identification process need to only gather robot itself joint kinematic parameter, without extra survey
Equipment is measured, cost is small to be easy to application；
The influence of body kinetic parameter is eliminated using track is repeated, Identification Data Processing process removes robot links size number
According to not needing extra robot body kinetic parameter outside, therefore institute's extracting method can be widely applied to the industrial machine of various configuration
Device people's load torque identification.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or the spy that the embodiment or example are described
Point is contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be any
One or more embodiments or example in combine in an appropriate manner.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art is not departing from the principle and objective of the present invention
In the case of above-described embodiment can be changed within the scope of the invention, change, replace and modification.The scope of the present invention
Extremely equally limited by appended claims.
Claims (4)
1. a kind of industrial robot loading kinetics parameter identification method moved based on particular joint, it is characterised in that including
Following steps：
Step S1, sets up industrial robot loading kinetics parameter model, wherein, the parameter model is：
Wherein, τlinkJoint drive power, τ when being moved for robot bodylinkloadTo there is joint drive power during tool load；
Step S2, according to the industrial robot loading kinetics parameter model, design weight identification track and inertia identification rail
Mark；
Step S3, track and inertia identification track are recognized according to the gravity designed in step S2, are gathered and are handled load torque identification fortune
Dynamic data gravity identification motion is moved with inertia identification, by motion process joint kinematic parameter and driving moment parameter, can be with
Obtain loading kinetics parameter L=[m, sx,sy,sz,Ixx,Iyy,Izz]T, wherein,
M=fm(d3,d5,τload_30_gravity_+,τload_30_gravity_-,τload_50_gravity_+,τload_50_gravity_-)
sx=fsx(d6,m,τload_50_gravity_+,τload_50_gravity_-)
sy=fsy(m,sx,τload_50_gravity_+,τload_50_gravity_-,τload_51_gravity_+,τload_51_gravity_-)
sz=fsz(m,sx,τload_50_gravity_+,τload_50_gravity_-,τload_51_gravity_+,τload_51_gravity_-)
Ixx=fIxx(m,sy,sz,τload_60_inertial_+,τload_60_inertial_-)
Iyy=fIyy(m,sx,τload_50_inertial_+,τload_50_inertial_-,τload_51_inertial_+,τload_51_inertial_-)
Izz=fIzz(m,sx,τload_50_inertial_+,τload_50_inertial_-,τload_51_inertial_+,τload_51_inertial_-)
Wherein, τload_a_b_cSubscript a represent kinematic axis and movement position, b represents to recognize type of gesture, and c represents speed or added
Speed is positive and negative.
2. the industrial robot loading kinetics parameter identification method as claimed in claim 1 moved based on particular joint, its
It is characterised by, in the step S1,
Identical movement locus, i.e. q=q are performed before and after installation tool load0=q1 Then have：
L=[m, sx,sy,sz,Ixx,Iyy,Izz]T
Wherein, WloadWhen being connected firmly for load and joint six, the power that load movement is produced to robot end, the power is dynamic by what is loaded
Mechanics parameter L and robot end's motion VeeTogether decide on, kinetic parameter L is fixed in industrial robot end flange coordinate system
Justice.
3. the industrial robot loading kinetics parameter identification method as claimed in claim 1 moved based on particular joint, its
It is characterised by, in the step S2, the identification of rotational inertia track, including：Joint is near connecting rod gravity symmetrical centre
Motion；Symmetrical forward direction speed and two motion processes of negative sense speed；In forward direction speed and two motion processes of negative sense speed,
Include two respectively to move uniform acceleration；When current joint is moved, other joints are slack.
4. the industrial robot loading kinetics parameter identification method as claimed in claim 1 moved based on particular joint, its
It is characterised by, in the step S2, the gravity identification track includes：Rail is moved near connecting rod gravity symmetrical centre in joint
When mark, forward direction are at the uniform velocity moved with the uniform velocity two main process of negative sense and current joint, other joints are slack.
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Cited By (7)
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| CN108638070A (en) * | 2018-05-18 | 2018-10-12 | 珞石（山东）智能科技有限公司 | Robot based on dynamic equilibrium loads weight parameter discrimination method |
| CN110554643A (en) * | 2019-08-16 | 2019-12-10 | 深圳华数机器人有限公司 | industrial robot drive and control system based on safety force control |
| CN111037567A (en) * | 2019-12-30 | 2020-04-21 | 上海新时达机器人有限公司 | Six-axis robot tail end load identification method and module |
| CN111037568A (en) * | 2019-12-30 | 2020-04-21 | 上海新时达机器人有限公司 | Four-axis robot tail end load identification method and module |
| CN112596531A (en) * | 2021-03-04 | 2021-04-02 | 德鲁动力科技(成都)有限公司 | Self-adaptive load parameter adjusting method for quadruped robot |
| CN113910229A (en) * | 2021-10-14 | 2022-01-11 | 库卡机器人制造（上海）有限公司 | Load parameter identification method, identification device, readable storage medium and robot |
| CN114603554A (en) * | 2022-02-21 | 2022-06-10 | 苏州艾利特机器人有限公司 | Calibration method and device for load moment of inertia of robot and storage medium |
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|---|---|---|---|---|
| CN108638070A (en) * | 2018-05-18 | 2018-10-12 | 珞石（山东）智能科技有限公司 | Robot based on dynamic equilibrium loads weight parameter discrimination method |
| CN110554643A (en) * | 2019-08-16 | 2019-12-10 | 深圳华数机器人有限公司 | industrial robot drive and control system based on safety force control |
| CN111037567A (en) * | 2019-12-30 | 2020-04-21 | 上海新时达机器人有限公司 | Six-axis robot tail end load identification method and module |
| CN111037568A (en) * | 2019-12-30 | 2020-04-21 | 上海新时达机器人有限公司 | Four-axis robot tail end load identification method and module |
| CN112596531A (en) * | 2021-03-04 | 2021-04-02 | 德鲁动力科技(成都)有限公司 | Self-adaptive load parameter adjusting method for quadruped robot |
| CN113910229A (en) * | 2021-10-14 | 2022-01-11 | 库卡机器人制造（上海）有限公司 | Load parameter identification method, identification device, readable storage medium and robot |
| CN113910229B (en) * | 2021-10-14 | 2023-01-31 | 库卡机器人制造（上海）有限公司 | Load parameter identification method, identification device, readable storage medium and robot |
| CN114603554A (en) * | 2022-02-21 | 2022-06-10 | 苏州艾利特机器人有限公司 | Calibration method and device for load moment of inertia of robot and storage medium |
| WO2023155790A1 (en) * | 2022-02-21 | 2023-08-24 | 苏州艾利特机器人有限公司 | Robot load rotational inertia calibration method and apparatus, and storage medium |
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