CN110605715A - Robot dynamics parameter identification method independent of joint angular acceleration - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention belongs to the field of robots, and discloses a robot dynamics parameter identification method independent of joint angular acceleration, which comprises the following steps: step 1: designing an optimized excitation track of all joints of the robot, and driving the robot to start to move; step 2: measuring joint motion data of the robot in a motion process, and then performing smooth filtering on the joint motion data; and step 3: establishing a robot energy model Y ═ WX; and 4, step 4: obtaining a kinetic parameter identification model according to a robot energy modelUsing the joint motion data as the input of the dynamic parameter estimation model, and outputting the identification value of the robot dynamic parameter setThe invention does not depend on the angular acceleration of the joint, and avoids parameter discrimination caused by amplifying joint angle measurement noise by differential operationThe recognition precision is not high.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to a robot dynamics parameter identification method independent of joint angular acceleration.
Background
With the application of the robot technology in the fields of laser cutting, precise electronics and the like, higher and higher requirements are put forward on the performance of the robot. The traditional industrial robot servo driver only has PID control, and cannot meet the operation requirements of high speed and high precision of the robot. The feedforward compensation based on the dynamic model can effectively improve the action speed and the track tracking precision of the robot, and the closer the description of the dynamic model is to the dynamic characteristics of the actual robot, the more obvious the improvement on the performance of the robot is. Therefore, it is important to explicitly model the dynamics characteristics of the robot and accurately estimate the dynamics parameters to expand the application scenarios of the robot in the future.
At present, the robot dynamics parameter identification mainly comprises the following steps: firstly, calculating a robot base parameter set, and rewriting a robot inverse dynamics model into a form linearly related to the base parameter set; then driving the robot to track the excitation track, acquiring the angle and the moment of the joint of the robot in the running process through measurement, and processing data by adopting a proper filtering algorithm; and finally, constructing an observation matrix based on the filtered data and the rewritten inverse dynamics model, and finishing the estimation of the dynamics parameters by using an estimation algorithm.
However, the inverse dynamics model in the above dynamics parameter identification method includes a joint angle acceleration measurement, and the robot is not usually equipped with an angular acceleration sensor at the joint, and generally calculates the angular acceleration by performing a quadratic difference on the joint angle, for example, the method of using frequency domain differentiation is proposed in chinese patent CN109062051A, "a method for improving the accuracy of robot dynamics parameter identification", to avoid error amplification caused by time domain differentiation. However, the identification model still contains the joint angular acceleration term, and the differential operation amplifies the joint angle measurement noise, which results in the problem of low parameter identification precision. Also, as proposed in chinese patent CN109249397A "a method and system for identifying kinetic parameters of a robot with six degrees of freedom and without dependence on angular acceleration of joints" to establish a power model according to the principle of energy conservation for kinetic parameter identification, the angular acceleration of joints does not need to be calculated, and the influence of noise on the identification result is reduced, but the power model still has the problem of noise amplification caused by differential operation. The existing method inevitably amplifies the measurement error of the joint angle, thereby influencing the identification precision of the kinetic parameters.
Disclosure of Invention
The invention aims to provide a robot dynamics parameter identification method independent of joint angular acceleration, which is used for solving the problems of low parameter identification precision and the like caused by differential operation in order to avoid angular acceleration in the prior art.
In order to realize the task, the invention adopts the following technical scheme:
a robot dynamics parameter identification method independent of joint angular acceleration comprises the following steps:
step 1: designing an optimized excitation track of all joints of the robot, and driving the robot to start to move, wherein all joints of the robot move according to the optimized excitation tracks;
step 2: measuring joint motion data of a robot in a motion process, wherein the joint motion data comprises a joint angle value, a joint angular velocity value and a joint moment value, and then performing smooth filtering on the joint motion data;
and step 3: establishing a robot energy model Y-WX, wherein Y represents a joint motion data matrix, W represents a regression matrix, and X represents a kinetic parameter set;
and 4, step 4: obtaining a kinetic parameter identification model according to the robot energy model obtained in the step 3Wherein W+The joint motion data obtained in the step 2 is used as the input of a dynamic parameter estimation model, and the identification value of the robot dynamic parameter set is output as a pseudo-inverse matrix of W
Further, the step 1 firstly obtains an excitation track of the robot, and then optimizes the excitation track to obtain an optimized excitation track;
the excitation track adopts Fourier series, and is calculated by a formula II:
wherein q isi(t) is the angle value of the ith joint of the robot at the time t, omegafFundamental frequency of Fourier series, qi0Compensating for the angle values of the i joints; a islAnd blThe amplitude parameters of a sine part and a cosine part of the Fourier series are respectively, and l is a Fourier series summation dependent variable.
Further, the condition for optimizing the excitation trajectory in step 1 to obtain the optimized excitation trajectory is that the excitation trajectories of all joints satisfy: (1) the angle, the angular velocity and the angular acceleration of each joint at any moment are all smaller than the maximum angle, the maximum angular velocity and the maximum angular acceleration of each corresponding joint; (2) the angle, angular velocity and angular acceleration of each joint are all 0 at the starting time and the ending time of a segment of motion.
Further, step 3 comprises the following substeps:
step 3.1: a robot energy model of a vertical type I is established,
wherein, gamma ismThe output torque of the motor of all joints when the robot moves is shown,representing the angular velocity values, t, of all joints in the robot movement0Indicating the starting moment of a movement, tmDenotes the end of a movement, Δ h denotes the difference in the energy function, and Δ h ═ h (t)m)-h(t0)，h(t0) Indicating that the system is at t0Energy function of time h (t)m) Indicating that the system is at tmAn energy function of a time of day;
step 3.2: and constructing an overdetermined equation set according to the robot energy model, and obtaining Y (WX) after arrangement.
Further, the joint angle value and the joint moment value in the step 2 are obtained through measurement, and the joint angle speed value is obtained through a difference algorithm on the filtered joint angle value.
Furthermore, frequency domain filtering is carried out on the joint angle value obtained through measurement, and filtering is carried out on the joint moment value obtained through measurement by using an envelope method.
Compared with the prior art, the invention has the following technical characteristics:
(1) in the invention, because the parameter identification model does not contain the angular acceleration item, the joint angle does not need to be subjected to secondary difference to solve the angular acceleration, and the problem of low parameter identification precision caused by amplifying joint angle measurement noise by difference operation is avoided;
(2) in the method, the observation matrix is a one-dimensional vector, and the observation matrix of the inverse dynamics model is a two-dimensional matrix, so that the expression is simpler, and the calculated amount is relatively small;
(3) the model used in the invention and the inverse dynamics model have the same basic parameter set, so that after the estimation quantity of the basic parameter set is obtained by using the method provided by the invention, the inverse dynamics model can be reused for high-speed and high-precision control of the robot without performing other redundant processing on the basic parameter obtained by estimation.
Drawings
FIG. 1 is a schematic diagram showing the excitation trajectories of the respective joints during the experiment of example 1;
FIG. 2 is a schematic diagram showing the measured torque of each joint with time during the experiment of example 1;
FIG. 3 shows the results of filtering measured torque values according to example 1;
fig. 4 shows a comparison between the measured total energy value and the identification value of the robot in example 1;
fig. 5 shows a comparison between the measured torque values and the identification values of the robot.
Detailed Description
The present invention is explained first with the occurrence of technical terms:
kinetic parameter set: i.e. a set of basis parameters, to explicitly describe the system dynamics model.
Energy function: representing the differential of the sum of the kinetic and potential energy of the system over time.
DH parameters: the DH parameters are used to set the relative coordinate system between the various joints of the robot.
Example 1
The embodiment discloses a robot dynamics parameter identification method independent of joint angular acceleration, which comprises the following steps:
step 1: designing an optimized excitation track of all joints of the robot, and driving the robot to start to move, wherein all joints of the robot move according to the optimized excitation tracks;
step 2: measuring joint motion data of a robot in a motion process, wherein the joint motion data comprises a joint angle value, a joint angular velocity value and a joint moment value, and then performing smooth filtering on the joint motion data;
and step 3: establishing a robot energy model Y-WX, wherein Y represents a joint motion data matrix, W represents a regression matrix, and X represents a kinetic parameter set;
and 4, step 4: obtaining a kinetic parameter identification model according to the robot energy model obtained in the step 3Wherein W+The joint motion data obtained in the step 2 is used as the input of a dynamic parameter estimation model, and the identification value of the robot dynamic parameter set is output as a pseudo-inverse matrix of W
In the invention, because the parameter identification model does not contain the angular acceleration item, the joint angle does not need to be subjected to secondary difference to solve the angular acceleration, and the problem of low parameter identification precision caused by amplifying joint angle measurement noise by difference operation is avoided; according to the method, the observation matrix is observed joint motion data, the observation matrix is a one-dimensional vector, and the observation matrix of the conventional inverse dynamics model is a two-dimensional matrix, so that the expression of the method is simpler, and the calculated amount is relatively smaller; the model used in the invention and the inverse dynamics model have the same basic parameter set, so that after the estimation quantity of the basic parameter set is obtained by using the method provided by the invention, the inverse dynamics model can be reused for high-speed and high-precision control of the robot without performing other redundant processing on the basic parameter obtained by estimation.
Specifically, the step 1 firstly obtains an excitation track of the robot, and then optimizes the excitation track to obtain an optimized excitation track;
the excitation track adopts Fourier series, and is calculated by a formula II:
wherein q isi(t) is the angle value of the ith joint of the robot at the time t, omegafFundamental frequency of Fourier series, qi0Compensating for the angle values of the i joints; a islAnd blThe amplitude parameters of a sine part and a cosine part of the Fourier series are respectively, and l is a Fourier series summation dependent variable.
Specifically, step 3 includes the following substeps:
step 3.1: a robot energy model of a vertical type I is established,
wherein, gamma ismThe output torque of the motor of all joints when the robot moves is shown,representing the angular velocity values, t, of all joints in the robot movement0Indicating the starting moment of a movement, tmRepresenting the end of a movement, and Δ h represents the difference in the energy functionAnd Δ h ═ h (t)m)-h(t0)，h(t0) Indicating that the system is at t0Energy function of time h (t)m) Indicating that the system is at tmAn energy function of a time of day;
step 3.2: and constructing an overdetermined equation set according to the robot energy model, and obtaining Y (WX) after arrangement.
Specifically, in step 3.1,wherein L is the Lagrange quantity of the robot system, E is the kinetic energy of the system, P is the potential energy of the system, and L is E-P, q andvectors of 1 x n respectively represent the angle value and angular velocity value of each joint of the robot, gammafRepresenting the friction torque, Γ, of the joints of the robot systemmA column vector is represented in which each element represents the motor output torque of a joint.
In particular, in step 3.1 the energy function H (t) is derived from the total energy H of the system, H ═ E + P, and
specifically, in step 3.2, the complete form of the overdetermined equation set is:
wherein, [ t ]0,t1,t2,...,tm]Representing a set of time series, the above over-determined equation is abbreviated as: y ═ WX.
Specifically, the joint motion data in step 3 includes a joint angle value, a joint moment value, and a joint angular velocity value, the joint angle value and the joint moment value are obtained by measurement, and the joint angular velocity value is obtained by using a differential algorithm on the filtered joint angle value. In the invention, because the parameter identification model does not contain the angular acceleration item, the joint angle does not need to be subjected to secondary difference to solve the angular acceleration, and the problem of low parameter identification precision caused by amplifying joint angle measurement noise by difference operation is avoided.
Preferably, the frequency domain filtering of the measured joint angle values is represented as qfiltered,i＝filterfd(qi) filtering the measured joint torque value by using an envelope method, and expressing the value as tau by a formulafiltered,i＝filterenvelope(qi)。
According to the method, the six-degree-of-freedom mechanical arm is used as a research object for developing verification. Let the DH parameters of the study robot be set as follows:
where α (°) is link torsion, representing the angle of rotation of the axes of one joint relative to the axes of the other joint about their common normal;
a (mm) is the link length, representing the common normal length between the axes of the two joints;
q (°) is the joint angle, representing the angle of rotation of a joint about the joint axis, of the common normal to the next joint and its common normal to the previous joint;
d (mm) is the link offset, representing the distance along this joint axis of the common normal of one joint to the next and its common normal to the previous joint.
In the experimental process, the robot is driven to follow the excitation track, the joint motion data of the robot is measured, the identification value of the base parameter set is calculated, and the following conclusion is obtained:
as shown in fig. 4, the measured total energy value and the identification value of the robot are compared. It can be seen from the figure that the fit between the total energy identification value and the measured value is high.
As shown in fig. 5, the measured torque values of the robot are compared with the identification values. As can be seen from fig. 5, the fitting degree between the joint moment identification value obtained by calculating based on the identified parameters and the joint moment measurement value is high, and the validity of the method provided by the present patent is verified.
Claims (6)
1. A robot dynamics parameter identification method independent of joint angular acceleration is characterized by comprising the following steps:
step 1: designing an optimized excitation track of all joints of the robot, and driving the robot to start to move, wherein all joints of the robot move according to the optimized excitation tracks;
step 2: measuring joint motion data of a robot in a motion process, wherein the joint motion data comprises a joint angle value, a joint angular velocity value and a joint moment value, and then performing smooth filtering on the joint motion data;
and step 3: establishing a robot energy model Y-WX, wherein Y represents a joint motion data matrix, W represents a regression matrix, and X represents a kinetic parameter set;
and 4, step 4: obtaining a kinetic parameter identification model according to the robot energy model obtained in the step 3Wherein W+The joint motion data obtained in the step 2 is used as the input of a dynamic parameter estimation model, and the identification value of the robot dynamic parameter set is output as a pseudo-inverse matrix of W
2. The method for identifying the kinetic parameters of the robot independent of the angular acceleration of the joint as claimed in claim 1, wherein the step 1 is to obtain the excitation trajectory of the robot and then optimize the excitation trajectory to obtain an optimized excitation trajectory;
the excitation track adopts Fourier series, and is calculated by a formula II:
wherein q isi(t) is the angle value of the ith joint of the robot at the time t, omegafFundamental frequency of Fourier series, qi0Compensating for the angle values of the i joints; a islAnd blThe amplitude parameters of a sine part and a cosine part of the Fourier series are respectively, and l is a Fourier series summation dependent variable.
3. The method for identifying kinetic parameters of a robot independent of angular acceleration of joints according to claim 2, wherein the condition for optimizing the excitation trajectory in step 1 to obtain the optimized excitation trajectory is that the excitation trajectories of all joints satisfy: (1) the angle, the angular velocity and the angular acceleration of each joint at any moment are all smaller than the maximum angle, the maximum angular velocity and the maximum angular acceleration of each corresponding joint; (2) the angle, angular velocity and angular acceleration of each joint are all 0 at the starting time and the ending time of a segment of motion.
4. The method for identifying kinetic parameters of a robot independent of angular acceleration of joints according to claim 1, wherein step 3 comprises the following sub-steps:
step 3.1: a robot energy model of a vertical type I is established,
wherein, gamma ismThe output torque of the motor of all joints when the robot moves is shown,representing the angular velocity values, t, of all joints in the robot movement0Indicating the starting moment of a movement, tmDenotes the end of a movement, Δ h denotes the difference in the energy function, and Δ h ═ h (t)m)-h(t0)，h(t0) Indicating that the system is at t0Energy function of time h (t)m) Indicating that the system is at tmAn energy function of a time of day;
step 3.2: and constructing an overdetermined equation set according to the robot energy model, and obtaining Y (WX) after arrangement.
5. The method for identifying kinetic parameters of a robot independent of angular acceleration of joints according to claim 1, wherein the values of angular joints and moment of joints in step 2 are obtained by measurement, and the values of angular joints are obtained by applying a difference algorithm to the filtered values of angular joints.
6. A method as claimed in claim 5, wherein the method includes frequency-domain filtering the measured joint angle values and envelope filtering the measured joint moment values.
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Application publication date: 20191224 |