CN109910056A - Robot method for assessing consistency - Google Patents
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- CN109910056A CN109910056A CN201811640003.6A CN201811640003A CN109910056A CN 109910056 A CN109910056 A CN 109910056A CN 201811640003 A CN201811640003 A CN 201811640003A CN 109910056 A CN109910056 A CN 109910056A
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Abstract
The present invention relates to the technical fields of robot assessment method, disclose robot method for assessing consistency, which is characterized in that 1), according to Fourier space establish the expression model of excitation track；2), by Newton-Euler method, position, speed and the acceleration of preplanning is worked as according to inverse dynamics model and robot, calculates the torque issued；3) it, is extracted by coefficient, establishes observation matrix；4) kinetic parameter, is found out by least square method of recursion；5) kinetic parameter and actual design parameter that, the model machine of different robots picks out by comparing, carry out the compliance evaluation of Robot Design and assembly；By the expression model for establishing robot, calculate the torque issued, pass through extraction coefficient, establish observation matrix, the kinetic parameter of robot is obtained by least square method of recursion, the kinetic parameter and actual design parameter picked out by comparing the model machine of different robots, carries out the compliance evaluation of Robot Design and assembly.
Description
Technical field
The invention patent relates to the technical fields of robot assessment method, in particular to robot compliance evaluation
Method.
Background technique
The precision of industrial robot system is directly affected by the ontology precision of robot, and the ontology precision of robot includes weight
Renaturation precision and absolute precision.Wherein, what repeatability precision represented is that at identical conditions, robot repeatedly reaches same position
Deviation between appearance, it is used to measure robot the degree of the pilot teaching point before capable of reappearing, and absolute precision represents machine
People reaches the deviation of set point in working space, it is for measuring the pilot teaching point based on Virtual Space coordinate system to real space point
The levels of precision of position.
Currently, in the manufacturing process of robot, mismachining tolerance, installation and the assembly relation of assembly, speed reducer and machine
The assembly of people such as the inertial tensor of rod piece, momentum, quality, rotor rotary inertia and can rub in robot dynamics' parameter
The parameter (Coulomb friction coefficient, viscosity friction coefficient) for wiping power model embodies, that is to say, that the kinetic parameter of robot is can
Using the parameter as measurement robot precision, that is, measure the consistency of robot.
Summary of the invention
The purpose of the present invention is to provide robot method for assessing consistencies, and the design and assembly to robot carry out consistent
Property assessment.
The invention is realized in this way robot method for assessing consistency, comprising the following steps:
1) expression model of excitation track, is established according to Fourier space；
2), by Newton-Euler method, when the position of preplanning, speed and added according to inverse dynamics model and robot
It is as follows to calculate the torque issued for speed:
Wherein, q,Be respectively the joint position of the broad sense of robot, speed and and speed vector, M is the sky in joint
Between inertia with regard to matrix, C is coriolis force and centripetal force coupling matrix, and F is frictional force, and G is gravity load, and Q is and q pairs of generalized coordinates
The generalized driving forces vector answered；J(q)TF is consequently exerted at joint power, J caused by the force screw on end effector of robot
The Jacobian matrix of mechanical arm；
3) it, is extracted by coefficient, establishes observation matrixIt is as follows:
φ∈Rn×(p+2n)It is discernibility matrixes, θlinear∈Rp+2nIt is kinetic parameter；
4) kinetic parameter θ, is found out by least square method of recursionlinear；
5), the kinetic parameter θ picked out by comparing the model machine of different robotslinearWith actual design parameter, into
Row Robot Design and the compliance evaluation of assembly.
Further, in the step 1), using following periodically Fourier Analysis as excitation track:
Wherein,It is Fourier space parameter, w respectivelyfFor the fundamental frequency of Fourier space, qi0For joint of robot
Motivate the starting point of track.
Further, the kinetic parameter θlinearIncluding inertia tensor (I), statical moment (MX, MY, MZ), quality (M),
The viscosity friction coefficient (Fv) and Coulomb friction coefficient (Fs) of rotor rotary inertia (Iz), Frictional model shape.
Further, in the least square method of recursion of the step 4), after every primary new measurement data of acquirement, then exist
On the basis of a preceding estimated result, preceding primary estimation structure is modified using the measurement data newly introduced.
Compared with prior art, the robot method for assessing consistency of above-mentioned offer provided by the invention, by establishing machine
The expression model of device people calculates the torque of robot issued, and by extraction coefficient, establishes observation matrix, then by passing
It pushes away least square method and obtains the kinetic parameter of robot, in this way, being picked out by comparing the model machine of different robots dynamic
Mechanics parameter and actual design parameter carry out the compliance evaluation of Robot Design and assembly.
Detailed description of the invention
Fig. 1 is the process frame diagram of robot method for assessing consistency provided by the invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Realization of the invention is described in detail below in conjunction with specific embodiment.
The same or similar label correspond to the same or similar components in the attached drawing of the present embodiment；In description of the invention
In, it is to be understood that if there is the orientation or positional relationship of the instructions such as term " on ", "lower", "left", "right" for based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of description of the present invention and simplification of the description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore describe the use of positional relationship in attached drawing
Language only for illustration, should not be understood as the limitation to this patent, for the ordinary skill in the art, can be with
The concrete meaning of above-mentioned term is understood as the case may be.
It is preferred embodiment provided by the invention shown in referring to Fig.1.
Robot method for assessing consistency provided in this embodiment, assesses the consistency of robot, with better
The design and assembly to robot are completed, specific as follows:
Robot method for assessing consistency, comprising the following steps:
1) expression model of excitation track, is established according to Fourier space；
2), by Newton-Euler method, when the position of preplanning, speed and added according to inverse dynamics model and robot
It is as follows to calculate the torque issued for speed:
Wherein, q,Be respectively the joint position of the broad sense of robot, speed and and speed vector, M is the sky in joint
Between inertia with regard to matrix, C is coriolis force and centripetal force coupling matrix, and F is frictional force, and G is gravity load, and Q is and q pairs of generalized coordinates
The generalized driving forces vector answered；J(q)TF is consequently exerted at joint power, J caused by the force screw on end effector of robot
The Jacobian matrix of mechanical arm；
3) it, is extracted by coefficient, establishes observation matrixIt is as follows:
φ∈Rn×(p+2n)It is discernibility matrixes, θlinear∈Rp+2nIt is kinetic parameter；
4) kinetic parameter θ, is found out by least square method of recursionlinear；
5), the kinetic parameter θ picked out by comparing the model machine of different robotslinearWith actual design parameter, into
The compliance evaluation of row robot.
The robot method for assessing consistency of above-mentioned offer calculates robot by establishing the expression model of robot
The torque issued establish observation matrix, then the power of robot is obtained by least square method of recursion and by extraction coefficient
Parameter is learned, in this way, the model machine of different robots picks out by comparing kinetic parameter and actual design parameter, carry out machine
The compliance evaluation of device people design and assembly.
In the present embodiment, in step 1), using following periodically Fourier Analysis as excitation track:
Wherein,It is Fourier space parameter, w respectivelyfFor the fundamental frequency of Fourier space, qi0For joint of robot
Motivate the starting point of track.
Kinetic parameter θlinearIncluding inertia tensor (I), statical moment (MX, MY, MZ), quality (M), rotor rotation
The viscosity friction coefficient (Fv) and Coulomb friction coefficient (Fs) of inertia (Iz), Frictional model.Wherein, inertial tensor (I) can
To feed back the mechanical arm inertia situation of robot, determine up to robot acceleration, equipment high speed performance and selected servo electricity
The Inertia Matching situation of machine system；The quality and mass center and robot of statical moment (MX, MY, MZ) feedback robot are in static(al) shape
Stress condition, deformation accuracy under state；Quality (M) feeds back the quality of the connecting rod in robot；Viscosity in Frictional model is rubbed
Speed reducer assembly situation can be fed back by wiping coefficient (Fv) and Coulomb friction coefficient (Fs), directly affected the vibration of complete machine operation, made an uproar
Sound and reachable movenent performance.
In the least square method of recursion of step 4), after every primary new measurement data of acquirement, then tied in preceding primary estimation
On the basis of fruit, preceding primary estimation structure is modified using the measurement data newly introduced.In this way, with new measurement data
It introduces, once then primary carry out kinetic parameter assessment, until kinetic parameter reaches satisfied levels of precision.
The basic thought of least square method of recursion can be summarized as follows:
Current estimated values thetalinear(k)=last time estimated values thetalinear(k-1)+correction term
That is, new estimated values thetalinearIt (k) is in old estimated values thetalinear(k-1) on the basis of, using new
Measurement data is to old estimated values thetalinear(k-1) made of being modified.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (4)
1. robot method for assessing consistency, which comprises the following steps:
1) expression model of excitation track, is established according to Fourier space；
2), by Newton-Euler method, position, speed and the acceleration of preplanning are worked as according to inverse dynamics model and robot
Degree, it is as follows to calculate the torque issued:
Wherein, q,Be respectively the joint position of the broad sense of robot, speed and and speed vector, M is that the space in joint is used
Amount is with regard to matrix, and C is coriolis force and centripetal force coupling matrix, and F is frictional force, and G is gravity load, and Q is corresponding with generalized coordinates q
Generalized driving forces vector；J(q)TF is consequently exerted at joint power caused by the force screw on end effector of robot, and J is mechanical
The Jacobian matrix of arm；
3) it, is extracted by coefficient, establishes observation matrixIt is as follows:
φ∈Rn×(p+2n)It is discernibility matrixes, θlinear∈Rp+2nIt is kinetic parameter；
4) kinetic parameter θ, is found out by least square method of recursionlinear；
5), the kinetic parameter θ picked out by comparing the model machine of different robotslinearWith actual design parameter, machine is carried out
The compliance evaluation of device people design and assembly.
2. robot method for assessing consistency as described in claim 1, which is characterized in that in the step 1), using as follows
Periodic Fourier Analysis is as excitation track:
Wherein,It is Fourier space parameter, w respectivelyfFor the fundamental frequency of Fourier space, qi0For the excitation of joint of robot
The starting point of track.
3. robot method for assessing consistency as claimed in claim 1 or 2, the kinetic parameter θlinearIncluding inertia
Measure the viscous friction system of (I), statical moment (MX, MY, MZ), quality (M), rotor rotary inertia (Iz), Frictional model shape
Number (Fv) and Coulomb friction coefficient (Fs).
4. robot method for assessing consistency as claimed in claim 1 or 2, which is characterized in that in the recursion of the step 4)
In least square method, after every primary new measurement data of acquirement, then on the basis of a preceding estimated result, utilize what is newly introduced
Measurement data is modified preceding primary estimation structure.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110666840A (en) * | 2019-10-16 | 2020-01-10 | 金陵科技学院 | Industrial robot comprehensive performance index design and evaluation method |
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| CN107498562A (en) * | 2017-04-21 | 2017-12-22 | 浙江工业大学 | Sixdegree-of-freedom simulation kinetic model discrimination method |
| CN107671861A (en) * | 2017-11-13 | 2018-02-09 | 无锡信捷电气股份有限公司 | A kind of improved SCARA Identification of Dynamic Parameters of Amanipulator method |
| 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 |
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| JPS62154004A (en) * | 1985-12-26 | 1987-07-09 | Fanuc Ltd | Control system for robot arm |
| CN107016208A (en) * | 2017-04-17 | 2017-08-04 | 珞石（北京）科技有限公司 | A kind of industrial robot external force method of estimation based on shake control |
| CN107498562A (en) * | 2017-04-21 | 2017-12-22 | 浙江工业大学 | Sixdegree-of-freedom simulation kinetic model discrimination method |
| CN107671861A (en) * | 2017-11-13 | 2018-02-09 | 无锡信捷电气股份有限公司 | A kind of improved SCARA Identification of Dynamic Parameters of Amanipulator method |
| 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 |
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Effective date of registration: 20210104 Address after: 276800 north of Shantou Road, west of Hangzhou Road, east of Luzhou Road, Rizhao Economic Development Zone, Shandong Province Applicant after: Rizhao Yuejiang Intelligent Technology Co.,Ltd. Address before: 518055 3rd floor, building 3, tongfuyu industrial city, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province Applicant before: SHENZHEN YUEJIANG TECHNOLOGY Co.,Ltd. |
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Application publication date: 20190621 |