CN115494794A - Kinetic parameter identification method, device, equipment and storage medium - Google Patents
Kinetic parameter identification method, device, equipment and storage medium Download PDFInfo
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- CN115494794A CN115494794A CN202110682411.3A CN202110682411A CN115494794A CN 115494794 A CN115494794 A CN 115494794A CN 202110682411 A CN202110682411 A CN 202110682411A CN 115494794 A CN115494794 A CN 115494794A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/4097—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using design data to control NC machines, e.g. CAD/CAM
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32153—Exchange data between user, cad, caq, nc, capp
Abstract
The embodiment of the application provides a kinetic parameter identification method, a kinetic parameter identification device, kinetic parameter identification equipment and a storage medium, and relates to the technical field of mechanical equipment. The method is applied to the load at the tail end of the mechanical arm and comprises the following steps: acquiring quality information of a load; after the tail end of the mechanical arm is loaded, rotating a rotating shaft of the mechanical arm to obtain a plurality of identification postures; traversing a plurality of recognition gestures, and executing the following processing on the traversed current recognition gesture: keeping the mechanical arm in the current identification posture, obtaining load dynamic data when a rotating shaft of the mechanical arm rotates for a preset angle at a preset rotating speed when carrying a load, and obtaining no-load dynamic data when the rotating shaft of the mechanical arm rotates for the preset angle at the preset rotating speed when not carrying the load; and obtaining dynamic parameters of the load according to the mass information of the load, the load dynamic data and the no-load dynamic data, wherein the dynamic parameters comprise the mass center position and the main inertia moment of the load. The method can achieve the technical effects of reducing the identification cost and improving the identification efficiency.
Description
Technical Field
The application relates to the technical field of mechanical equipment, in particular to a kinetic parameter identification method, a kinetic parameter identification device, kinetic parameter identification equipment and a storage medium.
Background
At present, a mechanical arm commonly used in industry refers to a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety and explosion protection. The mechanical arm is a complex system, and uncertainties such as parameter perturbation, external interference, unmodeled dynamics and the like exist. Therefore, uncertainty exists in a modeling model of the mechanical arm, and for different tasks, the motion trail of the joint space of the mechanical arm needs to be planned, so that the tail end pose is formed by cascading.
In the prior art, the load identification methods commonly used at the present stage mainly include the following three methods: the CAD model method reads the CAD model of the load block through computer software (solidwork, etc.), and then derives the dynamic parameters of the load block. The biggest drawback of this method is that it cannot be used if we do not have a CAD model of the load block; the load identification method of the tail end six-dimensional sensor utilizes the reading of the six-dimensional force sensor to obtain the dynamic parameters of the load through a complex calculation process. The obvious defect of the method is high cost, the six-dimensional force sensor of one ATI is as high as 5 to 6 ten thousand yuan, so that the overall cost is sharply increased; the sensorless integral identification method adopts the same method as the integral dynamics identification to design an excitation track, collects relevant data with load and without load and obtains the minimum combination of the minimum inertia set and the load parameters. The method is complex and cannot accurately identify a single parameter.
Disclosure of Invention
An object of the embodiments of the present application is to provide a method, an apparatus, a device and a storage medium for identifying kinetic parameters, which can achieve the technical effects of reducing the identification cost and improving the identification efficiency.
In a first aspect, an embodiment of the present application provides a method for identifying kinetic parameters, which is applied to a load at an end of a mechanical arm, and the method includes:
acquiring quality information of the load;
after the load is arranged at the tail end of the mechanical arm, rotating a rotating shaft of the mechanical arm to obtain a plurality of identification postures;
traversing the plurality of recognition gestures, and executing the following processing on the traversed current recognition gesture: keeping the mechanical arm in the current identification posture, and acquiring load dynamics data when a rotating shaft of the mechanical arm rotates at a preset rotating speed by a preset angle when carrying the load, and acquiring no-load dynamics data when the rotating shaft of the mechanical arm rotates at the preset rotating speed by the preset angle when not carrying the load;
and obtaining dynamic parameters of the load according to the mass information of the load, the load dynamic data and the no-load dynamic data, wherein the dynamic parameters comprise the mass center position and the main inertia moment of the load.
In the implementation process, the dynamic parameter identification method does not need an additional six-dimensional force sensor or a CAD model, and only depends on a plurality of identification postures and corresponding dynamic data, such as position, acceleration and moment data, to calculate the positions of the loads one by one, and the loads respectively output a main inertia moment with a coordinate system as an origin and a main inertia moment with a centroid position as the origin at the mechanical arm; the dynamics parameter identification method is simple and easy to use, can be realized through demonstrator track editing and controller program instructions, and achieves the technical effects of reducing the dynamics parameter identification cost of the tail end load of the mechanical arm and improving the identification efficiency.
Further, the robotic arm is a multi-axis robotic arm, and the step of traversing the plurality of recognized poses includes:
after a load is arranged at the tail end of the mechanical arm, a rotating shaft of the mechanical arm is rotated to obtain a first identification attitude, wherein the first identification attitude is an attitude that the load is not affected by double images when the last shaft rotates;
the mechanical arm maintains the first recognition posture;
acquiring first load dynamic data of a last shaft of the mechanical arm when the last shaft rotates for a preset angle at different rotating speeds when carrying a load;
acquiring first no-load dynamic data of a last shaft of the mechanical arm when the last shaft rotates for a preset angle at different rotating speeds without load;
calculating according to the first load dynamics data and the first no-load dynamics data of the last axis to obtain a main inertia moment of the load relative to the Z-axis direction with the coordinate of the last axis as an origin
Further, after the step of obtaining a main moment of inertia of the load relative to the Z-axis direction with the last axis coordinate as the origin point according to the load dynamics data and the no-load dynamics data calculation of the last axis, the method further includes:
after a load is arranged at the tail end of the mechanical arm, a rotating shaft of the mechanical arm is rotated to obtain a second identification posture, wherein the second identification posture is a posture of the load influenced by gravity when the last shaft rotates;
the mechanical arm maintains the second recognition posture;
acquiring second load dynamic data of a last shaft of the mechanical arm when the last shaft rotates for a preset angle at different rotating speeds when carrying a load;
acquiring second no-load dynamic data of the last shaft of the mechanical arm when the last shaft rotates for a preset angle at different rotating speeds without load;
according to the second load dynamics data of the last shaft, the second no-load dynamics data and the main inertia moment
And calculating to obtain coordinates x and y of the center of mass position of the load relative to a coordinate system of the mechanical arm.
Further, according to the second load dynamic data of the last shaft, the second no-load dynamic data and the main inertia moment
After the step of calculating, obtaining coordinates x, y of the position of the center of mass of the load with respect to the robot arm coordinate system, the method further comprises:
after a load is arranged at the tail end of the mechanical arm, a rotating shaft of the mechanical arm is rotated to obtain a third identification posture, wherein the third identification posture is a posture that the load and the last shaft are not influenced by gravity when the previous shaft of the last shaft rotates;
the mechanical arm maintains the third recognition posture;
collecting third load dynamic data of a previous shaft of the last shaft of the mechanical arm when the previous shaft rotates for a preset angle at different rotating speeds when carrying a load;
collecting third no-load dynamic data of a previous shaft of the last shaft of the mechanical arm when the previous shaft of the last shaft of the mechanical arm rotates for a preset angle at different rotating speeds when the mechanical arm does not have a load;
calculating according to third load dynamics data and third no-load dynamics data of a previous axis of the last axis to obtain an inertia tensor of the load in a Z-axis direction with a coordinate of the previous axis of the last axis as an origin
Further, the inertia tensor of the load in the Z-axis direction with the coordinate of the previous axis of the last axis as the origin is obtained through calculation according to the third load dynamics data and the third unloaded dynamics data of the previous axis of the last axis
After the step of (a), the method further comprises:
after a load is arranged at the tail end of the mechanical arm, a rotating shaft of the mechanical arm is rotated to obtain a fourth identification attitude, wherein the fourth identification attitude is an attitude that the load and a last shaft are not influenced by gravity when a previous shaft of the last shaft rotates;
the mechanical arm maintains the fourth recognition posture;
collecting fourth load dynamic data of a previous shaft of the last shaft of the mechanical arm when the previous shaft of the last shaft of the mechanical arm rotates for a preset angle at different rotating speeds when carrying a load;
collecting fourth no-load dynamic data of a previous shaft of the last shaft of the mechanical arm when the previous shaft of the last shaft of the mechanical arm rotates for a preset angle at different rotating speeds respectively when the mechanical arm does not have a load;
the inertia tensor is determined according to the fourth load dynamics data, the fourth unloaded dynamics data
And calculating to obtain a coordinate z of the centroid position of the load relative to the coordinate system of the mechanical arm and a main inertia distance based on the centroid of the load as an origin coordinate system.
In a second aspect, an embodiment of the present application provides a dynamic parameter identification apparatus for a load at an end of a robot arm, the apparatus including:
the quality acquisition module is used for acquiring the quality information of the load;
the gesture recognition module is used for rotating a rotating shaft of the mechanical arm after the load is arranged at the tail end of the mechanical arm to obtain a plurality of recognition gestures;
the traversing module is used for traversing the plurality of recognition gestures and executing the following processing to the traversed current recognition gesture: keeping the mechanical arm in the current identification posture, collecting load dynamic data when a rotating shaft of the mechanical arm rotates for a preset angle at a preset rotating speed when carrying a load, and collecting no-load dynamic data when the rotating shaft of the mechanical arm rotates for the preset angle at the preset rotating speed when not carrying the load;
and the dynamic parameter module is used for obtaining dynamic parameters of the load according to the mass information of the load, the load dynamic data and the no-load dynamic data, wherein the dynamic parameters comprise the mass center position and the main inertia moment of the load.
Further, the traversal module includes:
the first identification attitude unit is used for rotating a rotating shaft of the mechanical arm after a load is arranged at the tail end of the mechanical arm to obtain a first identification attitude, and the first identification attitude is an attitude that the load is not affected by double images when the last shaft rotates;
the first data acquisition unit is used for keeping the first identification posture of the mechanical arm, acquiring first load dynamic data of a last shaft of the mechanical arm when the last shaft rotates for a preset angle at different rotating speeds when carrying a load, and acquiring first no-load dynamic data of the last shaft of the mechanical arm when the last shaft does not rotate for the preset angle at different rotating speeds when not carrying the load;
a main inertia moment unit, configured to obtain a main inertia moment of the load relative to a Z-axis direction with the last axis coordinate as an origin according to the first load dynamics data and the first no-load dynamics data of the last axis
Further, the traversal module further comprises:
the second gesture recognition unit is used for rotating the rotating shaft of the mechanical arm after the tail end of the mechanical arm is provided with a load to obtain a second recognition gesture, and the second recognition gesture is a gesture of the load influenced by gravity when the last shaft rotates;
a second data acquisition unit, configured to keep the second identification posture, acquire second load dynamics data of a last shaft of the robot arm when the robot arm rotates at different rotation speeds by a preset angle when carrying a load, and acquire second no-load dynamics data of the last shaft of the robot arm when the robot arm does not rotate at a preset angle when the robot arm rotates at a different rotation speed;
a centroid location unit for determining a second deadweight dynamics data, a second deadweight dynamics data and a principal from the second load dynamics data of the last axisMoment of inertia
And calculating to obtain coordinates x and y of the center of mass position of the load relative to a mechanical arm coordinate system.
Further, the traversal module further comprises:
the third identification attitude unit is used for rotating the rotating shaft of the mechanical arm after the load is arranged at the tail end of the mechanical arm to obtain a third identification attitude, and the third identification attitude is an attitude of the last shaft and the load when the former shaft of the last shaft rotates, which are not influenced by gravity;
a third data acquisition unit, configured to keep the third identification posture, acquire third load dynamics data of a previous shaft of a last shaft of the robot arm when the previous shaft of the last shaft rotates at different rotation speeds by a preset angle when carrying a load, and acquire third no-load dynamics data of the previous shaft of the last shaft when the previous shaft of the last shaft of the robot arm rotates at different rotation speeds by a preset angle when not carrying a load;
an inertia tensor unit, configured to obtain an inertia tensor of the load in a Z-axis direction with a coordinate of a previous axis of the last axis as an origin according to third load dynamics data of the previous axis of the last axis and the third unloaded dynamics data
Further, the traversal module further comprises:
the fourth gesture recognition unit is used for rotating the rotating shaft of the mechanical arm after a load is arranged at the tail end of the mechanical arm to obtain a fourth gesture, and the fourth gesture is a gesture that the load and the last shaft are not influenced by gravity when the previous shaft of the last shaft rotates;
a fourth data collecting unit, configured to collect fourth load dynamics data of a previous shaft of the last shaft when the previous shaft of the last shaft of the robot arm rotates at different rotational speeds by a preset angle when carrying a load, and collect fourth no-load dynamics data of the previous shaft of the last shaft when the previous shaft of the last shaft of the robot arm rotates at different rotational speeds by a preset angle when not carrying a load;
a center of mass position and principal moment of inertia unit for providing the inertia tensor according to the fourth load dynamics data, the fourth no-load dynamics data
And calculating to obtain the coordinate z of the centroid position of the load relative to the coordinate system of the mechanical arm and the main inertia distance based on the centroid of the load as the origin coordinate system.
In a third aspect, an apparatus provided in an embodiment of the present application includes: memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to any of the first aspect when executing the computer program.
In a fourth aspect, an embodiment of the present application provides a storage medium, which stores instructions that, when executed on a computer, cause the computer to perform the method according to any one of the first aspect.
In a fifth aspect, embodiments of the present application provide a computer program product, which when run on a computer, causes the computer to perform the method according to any one of the first aspect.
Additional features and advantages of the disclosure will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the above-described techniques.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic flowchart of a kinetic parameter identification method according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of an initial position of a robotic arm according to an embodiment of the present disclosure;
fig. 3 is a schematic flow chart illustrating the kinetic parameter identification of the robot arm in the first identification posture according to the embodiment of the present disclosure;
fig. 4 is a schematic structural diagram illustrating a first gesture recognition of a robot arm according to an embodiment of the present disclosure;
fig. 5 is a schematic flow chart illustrating the kinetic parameter identification when the robot arm is in the second identification posture according to the embodiment of the present application;
fig. 6 is a schematic structural diagram illustrating a second gesture recognition of the robot arm according to the embodiment of the present disclosure;
fig. 7 is a schematic flow chart illustrating the kinetic parameter identification when the robot arm is in the third identification posture according to the embodiment of the present application;
fig. 8 is a schematic structural diagram of a robot arm in a third recognition posture according to an embodiment of the present disclosure;
fig. 9 is a schematic flow chart illustrating the kinetic parameter identification of the robot arm in the fourth identification posture according to the embodiment of the present disclosure;
FIG. 10 is a schematic structural diagram illustrating a fourth gesture recognition performed by the robotic arm according to the present disclosure;
FIG. 11 is a block diagram of a kinetic parameter identification device according to an embodiment of the present application;
fig. 12 is a block diagram of a device according to an embodiment of the present disclosure.
An icon: 100-a quality acquisition module; 200-recognizing a gesture module; 300-traversal module; 400-kinetic parameter module; 510-a processor; 520-a communication interface; 530-a memory; 540 — communication bus.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not construed as indicating or implying relative importance.
The embodiment of the application provides a method, a device, equipment and a storage medium for identifying kinetic parameters, which can be applied to identifying the kinetic parameters of a load at the tail end of a mechanical arm; the dynamic parameter identification method does not need an additional six-dimensional force sensor or a CAD model, and only depends on a plurality of identification postures and corresponding dynamic data, such as position, acceleration and moment data, to calculate the positions of the loads one by one, and the loads respectively output a main inertia moment with a coordinate system as an origin and a main inertia moment with a centroid position as the origin on the mechanical arm; the dynamics parameter identification method is simple and easy to use, can be realized through demonstrator track editing and controller program instructions, and achieves the technical effects of reducing the dynamics parameter identification cost of the tail end load of the mechanical arm and improving the identification efficiency.
Referring to fig. 1, fig. 1 is a schematic flow chart of a kinetic parameter identification method provided in an embodiment of the present application, where the kinetic parameter identification method is applied to a load at a tail end of a robot arm, and includes the following steps:
s100: and acquiring the quality information of the load.
S200: after the tail end of the mechanical arm is loaded, the rotating shaft of the mechanical arm is rotated to obtain a plurality of identification postures.
S300: traversing a plurality of recognition gestures, and executing the following processing on the traversed current recognition gesture: the mechanical arm is kept in the current identification posture, load dynamic data when the rotating shaft of the mechanical arm rotates for a preset angle at a preset rotating speed when carrying load is obtained, and no-load dynamic data when the rotating shaft of the mechanical arm rotates for a preset angle at a preset rotating speed when not carrying load is obtained.
S400: and obtaining dynamic parameters of the load according to the mass information, the load dynamic data and the no-load dynamic data of the load, wherein the dynamic parameters comprise the mass center position and the main moment of inertia of the load.
In an exemplary manner, the kinetic parameter identification method does not need additional equipment such as a six-dimensional force sensor for identification, establishes a corresponding kinetic model by setting the posture of the mechanical arm, identifies the kinetic parameters of the load, does not need additional equipment, and can reduce the cost of the mechanical arm; in addition, the dynamic parameter identification method does not depend on the existing CAD model, can identify the load dynamic parameters with any shape and size, and can identify the load by the method for some odd-shaped loads without knowing the load of the CAD model. Moreover, the dynamic parameter identification method is high in precision, each load parameter such as the center of mass position of the load and the main inertia moment can be independently identified, the mechanical arm does not need to move in a large range when the load is identified, and identification work can be completed in a limited space.
It should be understood that the embodiments of the present application are illustrated with a six-axis robotic arm as an example; according to the same principle, the kinetic parameter identification method provided by the application can be used for other multi-axis mechanical arms such as a four-axis mechanical arm, and details are not repeated here.
Referring to fig. 2, fig. 2 is a schematic structural diagram illustrating an initial position of a robot arm according to an embodiment of the present disclosure.
Illustratively, the six-axis mechanical arm comprises a base and six rotating shafts, wherein the six rotating shafts are a 1 st axis, a 2 nd axis, a 3 rd axis, a 4 th axis, a 5 th axis and a 6 th axis in sequence from near to far according to the connecting position of the six rotating shafts with the base, at the moment, the last axis of the mechanical arm is the 6 th axis, the previous axis of the last axis is the 5 th axis, and the like.
Referring to fig. 3, fig. 3 is a schematic flow chart illustrating the kinetic parameter identification when the robot arm is in the first identification posture according to the embodiment of the present disclosure.
Exemplarily, S300: traversing a plurality of recognition poses, comprising:
s311: after a load is arranged at the tail end of the mechanical arm, a rotating shaft of the mechanical arm is rotated to obtain a first identification attitude, wherein the first identification attitude is an attitude that the load is not influenced by double image when the last shaft rotates;
s312: the mechanical arm keeps a first identification posture, first load dynamic data of a last shaft of the mechanical arm when the last shaft rotates for a preset angle at different rotating speeds respectively when carrying load are collected, and first no-load dynamic data of the last shaft of the mechanical arm when the last shaft rotates for the preset angle at different rotating speeds respectively when not carrying load are collected;
s313: according to the first load dynamics data and the first no-load dynamics data of the last axis, the main inertia moment of the load relative to the Z axis direction with the coordinate of the last axis as the origin is obtained
Referring to fig. 4, fig. 4 is a schematic structural diagram of a first gesture recognition of a mechanical arm provided in the embodiment of the present application, where the 1 st axis, the 2 nd axis, the 3 rd axis, the 4 th axis, the 5 th axis, and the 6 th axis of the mechanical arm correspond to axis1, axis2, axis3, axis4, axis5, and axis6 in sequence.
Illustratively, the 1 st axis, the 2 nd axis and the 3 rd axis of the mechanical arm are kept unchanged at the initial positions, the 4 th axis and the 5 th axis are rotated, the Z axis of the 6 th axis is coincided with the Z axis direction of the 1 st axis, and thus the load at the tail end of the mechanical arm is not influenced by gravity at all when the 6 th axis is rotated.
Illustratively, the main moment of inertia of the load in the Z-axis direction with the 6 th axis coordinate as the origin is calculated
After the first identification attitude is set, the 6 th shaft is rotated at different speeds each time, the rotation angle is from-90 degrees to 90 degrees (other angle ranges are also possible), and the moment difference (delta tau) of the 6 th shaft under the conditions of load and no load is recorded 6 ) And angular velocity at the time of 6 th axis rotation
And angular acceleration
The following method is utilized to calculate the main moment of inertia in the Z-axis direction of the load under the output coordinate system of the mechanical arm (at the moment, the 6 th axis rotates, namely, the 6 th axis coordinate system)
The potential energy of the load is zero at this time because the load is not influenced by gravity due to the rotation of the 6 th shaft. The kinetic energy K is:
establishing an inverse dynamics linearization model according to an energy Lagrange method to obtain:
Δτ 6 is the difference between the torque measured with load on the 6 th axis minus the torque measured without load.
Since the data running at different speeds are collected over the entire trajectory rotated by the 6 th axis through angles ranging from-90 ° to 90 ° (other angular ranges are possible), in order to minimize the calculation deviation, a least squares fit is used:
by the method, the main inertia moment loaded in the Z-axis direction under the output coordinate system of the mechanical arm can be calculated firstly
Referring to fig. 5, fig. 5 is a schematic flow chart illustrating the kinetic parameter identification of the robot arm in the second identification posture according to the embodiment of the present disclosure.
Illustratively, after the step of obtaining the main moment of inertia of the load relative to the Z-axis direction with the last-axis coordinate as the origin point according to the load dynamics data and the no-load dynamics data calculation of the last axis, the method further comprises:
s321: after the tail end of the mechanical arm is provided with the load, rotating a rotating shaft of the mechanical arm to obtain a second identification attitude, wherein the second identification attitude is an attitude of the load influenced by gravity when the last shaft rotates;
s322: the mechanical arm keeps a second identification posture, and second load dynamic data of a last shaft of the mechanical arm when the last shaft rotates for a preset angle at different rotating speeds respectively when carrying load and second no-load dynamic data of the last shaft of the mechanical arm when the last shaft does not rotate for the preset angle at different rotating speeds respectively when not carrying load are collected;
s323: according to the second load dynamics data, the second no-load dynamics data and the main inertia moment of the last shaft
And calculating to obtain coordinates x and y of the center of mass position of the load relative to the coordinate system of the mechanical arm.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a second gesture recognition of the robot arm according to the embodiment of the present disclosure.
Illustratively, the principal moment of inertia is calculated
Then, the 4 th and 5 th axes are rotated to the initial positions to make the load have the second recognition attitude (the gravitational potential energy of the load relative to the rotating axis is not 0) influenced by gravity, and this step is used for calculating the product mx and my of the position of the centroid of the load in the X and Y directions and the mass, and the product mz =0 of the centroid in the Z direction and the mass in this attitude. Also, the position of the 6 th axis (q) is acquired every time the 6 th axis is rotated at a different speed from-90 to 90 (other angular ranges are possible) 6 ) Acceleration of
Sum moment difference (Δ τ) 6 ) And (4) data.
Calculating the product of the position of the center of mass of the load in the X and Y directions and the mass: at this time, the 6 th axis is rotated from-90 ° to 90 °, at this time, the load is influenced by gravity, and the inverse dynamic equation becomes:
wherein m is load Is the mass of the load, pc is the position of the center of mass,
is the rotation matrix of the 6 th axis coordinate in the base coordinate, and is related to the rotation angle of the 6 th axis, and g is the gravity acceleration.
Order to
The above equation is also transformed in the form of least squares into the product of the position of the center of mass of the load in the X, Y directions and the mass:
wherein ω is a matrix of n x 3, n being the number of acquisition points on the track;
is a matrix of n x 1; omega T Is ω transpose; pinv () is the pseudo-inverse of the matrix; obtaining:
referring to fig. 7, fig. 7 is a schematic flow chart illustrating the kinetic parameter identification when the robot arm is in the third identification posture according to the embodiment of the present disclosure.
Exemplarily, according to the second load dynamics data of the last axis,Second no-load dynamics data and principal moment of inertia
After the step of calculating, obtaining coordinates x, y of the position of the center of mass of the load relative to the coordinate system of the robot arm, the method further comprises:
s331: the tail end of the mechanical arm is provided with a load, and then a rotating shaft of the mechanical arm is rotated to obtain a third identification attitude, wherein the third identification attitude is an attitude of the last shaft and the load when the previous shaft rotates, and the last shaft is not influenced by gravity;
s332: the mechanical arm keeps a third identification posture, and third load dynamics data of a previous shaft of the last shaft of the mechanical arm are collected when the previous shaft of the last shaft of the mechanical arm rotates for a preset angle at different rotating speeds when carrying load, and third no-load dynamics data of the previous shaft of the last shaft of the mechanical arm are collected when the previous shaft of the last shaft of the mechanical arm rotates for a preset angle at different rotating speeds without load;
s333: calculating according to third load dynamic data and third no-load dynamic data of a previous axis of the last axis to obtain an inertia tensor of the load in a Z-axis direction with a coordinate of the previous axis of the last axis as an origin
Please refer to fig. 8, fig. 8 is a schematic structural diagram of the robot arm in the third recognition posture according to the embodiment of the present disclosure.
By changing the robot arm attitude, for example, by rotating the 5 th axis, the product mz of the position of the centroid of the load in the Z direction and the mass can be found. Firstly, the 6 th shaft and the load are regarded as a whole, and the posture of the mechanical arm is changed to ensure that the 6 th shaft and the load are not influenced by gravity (third identification posture); then, the 6 th axis is rotated to make the 6 th axis Y direction and the 5 th axis Z direction heavily summed, and the robot arm posture is as shown in fig. 8. Finally, the position of the 5 th axis (q) is acquired by rotating the 5 th axis at different speeds each time by an angle from-90 to 90 (other angular ranges are possible) 5 ) Acceleration of
Sum moment difference (Δ τ) 5 ) To find
Calculating the inertia tensor of the origin coordinate of the load around the 5 th axis
And (3) solving the main inertia moment of the load around the 5 th axis Z direction:
Δτ 5 is the difference between the moment of the 5 th axis with load minus the moment without load.
It should be noted that this time
The inertia tensor of origin coordinate of the 6 th axis of the load, which is not necessarily required
The inertia tensor is the inertia tensor of the load around the origin coordinate of the 5 th axis, and the inertia tensor of the load with the center of mass as the origin coordinate is obtained through parallel axes in subsequent calculation.
Referring to fig. 9, fig. 9 is a schematic flow chart illustrating the kinetic parameter identification when the robot arm is in the fourth identification posture according to the embodiment of the present disclosure.
Illustratively, according to the third load dynamics data and the third unloaded dynamics data calculation of the previous axis of the last axis, the inertia tensor of the Z-axis direction with the coordinate of the previous axis of the last axis as the origin is obtained
After the step (b), the method further comprises:
s341: after the tail end of the mechanical arm is provided with a load, a rotating shaft of the mechanical arm is rotated to obtain a fourth identification attitude, wherein the fourth identification attitude is an attitude in which the load is not influenced by gravity when a previous shaft of a last shaft rotates and the last shaft does not influence gravity;
s342: the mechanical arm keeps a fourth identification posture, and fourth load dynamic data of a previous shaft of the last shaft of the mechanical arm when the previous shaft of the last shaft of the mechanical arm rotates for a preset angle at different rotating speeds when carrying load and fourth no-load dynamic data of the previous shaft of the last shaft of the mechanical arm when the previous shaft of the last shaft of the mechanical arm does not rotate for the preset angle at different rotating speeds when not carrying load are collected;
s343: according to the fourth load dynamics data and the fourth no-load dynamics data, inertia tensor
And calculating to obtain the coordinate z of the center of mass position of the load relative to the coordinate system of the mechanical arm and the main inertia distance based on the center of mass of the load as the origin coordinate system.
Referring to fig. 10, fig. 10 is a schematic structural diagram of a fourth gesture recognition of the robot arm according to the embodiment of the present disclosure.
Illustratively, the following finds the product mx, mz of the mass and the position of the center of mass of the load in the X, Z directions. My =0 in the fourth recognition pose. Rotating the 4 th axis to subject the 6 th axis and the load to gravity, the fourth gesture as shown in FIG. 10, and then rotating the 5 th axis at different speeds from-90 to 90 (or other angular ranges) each time, acquiring the 5 th axis position (q) 5 ) Moment difference (Δ τ) with and without load 5 ) Angular acceleration
And (4) data.
The inverse kinematic equation for the 5 th axis now becomes:
pc' is the position of the center of mass of the load Pc plus the offset d from the 5 th to 6 th axis coordinate systems; wherein the content of the first and second substances,
is a homogeneous transformation matrix from a 5 th axis coordinate system to a 6 th axis coordinate system and is obtained by DH parameters;
is a rotation matrix of the 5 th axis coordinate at the base coordinate, and is related to the rotation angle of the 5 th axis; g is the acceleration of gravity.
Order to
The above equation is also transformed in the form of least squares:
where ω' is a matrix of n x 3, and n is the number of acquisition points on the trace;
is a matrix of n x 1; omega' T Is the transpose of ω; pinv () is the pseudo-inverse.
Illustratively, m is as defined above load * Pc' is the load multiplied by the distance (d) from the 5 th axis to the 6 th axis, so that mz is calculated minus this offset d, as:
to this end, the dynamic parameter identification method has obtained the centroid position Pc = (x, y, z) of the load, followed by calculating the principal moment of inertia of the load.
Illustratively, the principal moment of inertia of the center of mass of the load in the Z direction of the 6 th axis coordinate origin is obtained
Then, the main inertia moment of the load in a coordinate system with the centroid as the origin can be continuously calculated; firstly, the main inertia moment of a coordinate system with the center of mass as the origin of the load is calculated
By parallel shift axes. The calculation process is as follows:
A＝m load *(Pc T *Pc*I-Pc*Pc T )；
note that: a (3, 3) is represented as taking the elements of the third row and column in matrix A; i is a 3 x 3 identity matrix; pc is the position of the load centroid in the 6 th axis coordinate system; pc T Is the transpose of the load centroid at the 6 th axis coordinate system position.
Illustratively, the principal moment of inertia of the load is calculated using its centroid as the origin coordinate system
The main moment of inertia of the load centroid in the direction of the origin Z of the 5 th axis coordinate is not the main moment of inertia of the coordinate system with the origin of the centroid. Similarly, the principal moment of inertia I _ cyy ^ load to be calculated for the coordinate system with the origin of the center of mass of the load passes through the parallel shift axes. The calculation process is as follows:
Pc new ＝Pc+d；
B＝m load *(Pc new T *Pc new *I-Pc new *Pc new T )；
wherein B (2, 2) means taking the elements of the first row and the first column in the matrix B; i is a 3 x 3 identity matrix; pc is the position of the load centroid at the origin of coordinates of the 6 th axis; pc new Representing the position of the load centroid at the 5 th axis origin of coordinates; pc new T A transpose representing the position of the center of mass of the load at the origin of coordinates of axis 5; d is the distance from the 5 th to the 6 th axis coordinate system
Illustratively, the 6 th axis is rotated to make the X direction of the load coincide with the Z direction of the 5 th axis, the 6 th axis and the load are not affected by gravity, and the fourth recognition attitude is shown in fig. 10; then, the 5 th axis is rotated at different speeds from-90 to 90 (and other angular ranges are possible) each time, and the moment difference (delta tau 5) and the angular acceleration of the loaded and unloaded state are acquired
The main inertia moment in the Z direction of the coordinate system with the 5 th axis as the origin can be obtained
Exemplarily, a main moment of inertia in the Z direction of the load in the fourth recognition attitude with the 5 th axis as the origin coordinate system is calculated
Calculating the main inertia moment of the load in the X direction by taking the mass center of the load as an origin coordinate system
The 5 th axis rotates around the Z direction thereof, which is equivalent to the rotation of the load around the X direction of the 6 th axis, and the Z direction of the 5 th axis and the X direction of the 6 th axis have a position deviation
Therefore, the main inertia moment of the load in the X direction of the coordinate system with the centroid as the origin is calculated by two times of parallel shift
The calculation process is as follows:
Pc new2 ＝Pc+d2；
C＝m load (Pc new2 T *Pc new *I-Pc new2 *Pc new2 T )；
to this end, the centroid position Pc (X, y, z) of the load, and the principal moment of inertia in the X direction of the coordinate system in which the centroid of the load is the origin have been calculated
Principal moment of inertia of load in y direction with its centroid as origin coordinate system
Calculating the main inertia moment of the load in the x direction by using the mass center of the load as an origin coordinate system
Similarly, the main inertia moment of the load output coordinate system by the mechanical arm can be calculated in a parallel shaft shifting mode
In summary, with the method for identifying dynamic parameters provided in the embodiments of the present application, the position Pc of the load and the main moment of inertia of the load at the origin of the robot output coordinate system can be calculated one by only rotating the last axis of the robot and the previous axis of the last axis (the 6 th axis and the 5 th axis in the six-axis robot), respectively
Principal moment of inertia with centroid position as origin
The scheme is low in cost, simple and easy to use, and the whole process is realized through demonstrator track editing and controller program instructions.
Referring to fig. 11, fig. 11 is a block diagram illustrating a dynamic parameter identification apparatus according to an embodiment of the present disclosure, the dynamic parameter identification apparatus being applied to a load at a distal end of a robot arm, including:
a quality obtaining module 100, configured to obtain quality information of a load;
the gesture recognition module 200 is used for rotating a rotating shaft of the mechanical arm after a load is arranged at the tail end of the mechanical arm to obtain a plurality of recognition gestures;
the traversing module 300 is configured to traverse a plurality of recognition gestures, and perform the following processing on the traversed current recognition gesture: keeping the mechanical arm in the current identification posture, collecting load dynamic data when a rotating shaft of the mechanical arm rotates for a preset angle at a preset rotating speed when carrying a load, and collecting no-load dynamic data when the rotating shaft of the mechanical arm rotates for the preset angle at the preset rotating speed when not carrying the load;
the dynamic parameter module 400 is configured to obtain dynamic parameters of the load according to the mass information of the load, the load dynamic data, and the no-load dynamic data, where the dynamic parameters include a centroid position and a principal moment of inertia of the load.
Illustratively, traversal module 300 includes:
the first identification attitude unit is used for rotating a rotating shaft of the mechanical arm after the tail end of the mechanical arm is provided with a load to obtain a first identification attitude, and the first identification attitude is an attitude that the load is not affected by double images when the last shaft rotates;
the first data acquisition unit is used for keeping a first identification posture of the mechanical arm, acquiring first load dynamic data of a last shaft when the last shaft of the mechanical arm rotates for a preset angle at different rotating speeds when carrying load, and acquiring first no-load dynamic data of the last shaft when the last shaft of the mechanical arm rotates for a preset angle at different rotating speeds when not carrying load;
the main inertia moment unit is used for calculating according to the first load dynamics data and the first no-load dynamics data of the last axis to obtain the main inertia moment of the load relative to the Z-axis direction with the coordinate of the last axis as the origin
Illustratively, traversal module 300 further includes:
the second identification attitude unit is used for rotating the rotating shaft of the mechanical arm after the tail end of the mechanical arm is provided with the load to obtain a second identification attitude, and the second identification attitude is an attitude of the load influenced by gravity when the last shaft rotates;
the second data acquisition unit is used for keeping a second identification posture of the mechanical arm, acquiring second load dynamic data of a last shaft when the last shaft of the mechanical arm rotates for a preset angle at different rotating speeds when carrying a load, and acquiring second no-load dynamic data of the last shaft when the last shaft of the mechanical arm rotates for a preset angle at different rotating speeds when not carrying the load;
a centroid location unit for determining a second load dynamics data, a second no-load dynamics data and a principal moment of inertia of the last axis
Calculating to obtain the position of the center of mass of the load relative toCoordinates x, y of the robot arm coordinate system.
Illustratively, traversal module 300 further includes:
the third identification attitude unit is used for rotating the rotating shaft of the mechanical arm after the tail end of the mechanical arm is provided with the load to obtain a third identification attitude, and the third identification attitude is an attitude of the last shaft and the load when the previous shaft rotates;
the third data acquisition unit is used for keeping a third identification posture of the mechanical arm, acquiring third load dynamic data of a previous shaft of the last shaft when the previous shaft of the last shaft of the mechanical arm rotates for a preset angle at different rotating speeds when carrying load, and acquiring third no-load dynamic data of the previous shaft of the last shaft when the previous shaft of the last shaft of the mechanical arm rotates for a preset angle at different rotating speeds when not carrying load;
the inertia tensor unit is used for calculating according to third load dynamics data and third unloaded dynamics data of the previous axis of the last axis to obtain an inertia tensor of the load in the Z-axis direction by taking the coordinates of the previous axis of the last axis as an origin
Illustratively, traversal module 300 further includes:
the fourth gesture recognition unit is used for rotating the rotating shaft of the mechanical arm after the load is arranged at the tail end of the mechanical arm to obtain a fourth gesture, and the fourth gesture is a gesture that the load is not influenced by gravity when the previous shaft of the last shaft rotates and the last shaft is not influenced by gravity;
the fourth data acquisition unit is used for keeping a fourth identification posture of the mechanical arm, acquiring fourth load dynamic data of a previous shaft of the last shaft of the mechanical arm when the previous shaft of the last shaft of the mechanical arm rotates for a preset angle at different rotating speeds when carrying load, and acquiring fourth no-load dynamic data of the previous shaft of the last shaft when the previous shaft of the last shaft of the mechanical arm rotates for a preset angle at different rotating speeds when not carrying load;
center of mass position and principal moment of inertia unitFor the inertia tensor based on the fourth load dynamics data and the fourth unloaded dynamics data
And calculating to obtain a coordinate z of the center of mass position of the load relative to the coordinate system of the mechanical arm and a main inertia distance based on the center of mass of the load as an origin coordinate system.
It should be understood that the kinetic parameter identification device shown in fig. 11 corresponds to the method embodiments shown in fig. 1 to 10, and is not repeated here to avoid repetition.
Fig. 12 is a schematic diagram illustrating an apparatus according to an embodiment of the present disclosure, where fig. 12 is a block diagram illustrating an apparatus according to an embodiment of the present disclosure. The device may include a processor 510, a communication interface 520, a memory 530, and at least one communication bus 540. Wherein the communication bus 540 is used for realizing direct connection communication of the components. The communication interface 520 of the device in the embodiment of the present application is used for performing signaling or data communication with other node devices. Processor 510 may be an integrated circuit chip having signal processing capabilities.
The Processor 510 may be a general-purpose Processor including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor 510 may be any conventional processor or the like.
The Memory 530 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Read Only Memory (EPROM), an electrically Erasable Read Only Memory (EEPROM), and the like. The memory 530 stores computer readable instructions that, when executed by the processor 510, cause the apparatus to perform the steps associated with the method embodiments of fig. 1-10 described above.
Optionally, the device may further include a memory controller, an input output unit.
The memory 530, the memory controller, the processor 510, the peripheral interface, and the input/output unit are electrically connected to each other directly or indirectly, so as to implement data transmission or interaction. For example, these components may be electrically coupled to each other via one or more communication buses 540. The processor 510 is adapted to execute executable modules stored in the memory 530, such as software functional modules or computer programs comprised by the device.
The input and output unit is used for providing a task for a user to create and start an optional time period or preset execution time for the task creation so as to realize the interaction between the user and the server. The input/output unit may be, but is not limited to, a mouse, a keyboard, and the like.
It will be appreciated that the configuration shown in fig. 12 is merely illustrative and that the apparatus may include more or fewer components than shown in fig. 12 or may have a different configuration than shown in fig. 12. The components shown in fig. 12 may be implemented in hardware, software, or a combination thereof.
The embodiment of the present application further provides a storage medium, where the storage medium stores instructions, and when the instructions are run on a computer, when the computer program is executed by a processor, the method in the method embodiment is implemented, and in order to avoid repetition, details are not repeated here.
The present application also provides a computer program product which, when run on a computer, causes the computer to perform the method of the method embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A kinetic parameter identification method is applied to a load at the tail end of a mechanical arm, and the method comprises the following steps:
acquiring quality information of the load;
after the load is arranged at the tail end of the mechanical arm, rotating a rotating shaft of the mechanical arm to obtain a plurality of identification postures;
traversing the plurality of recognition gestures, and executing the following processing on the traversed current recognition gesture: keeping the mechanical arm under the current identification posture, and acquiring load dynamics data when the rotating shaft of the mechanical arm rotates for a preset angle at a preset rotating speed when carrying the load, and acquiring no-load dynamics data when the rotating shaft of the mechanical arm rotates for a preset angle at a preset rotating speed when not carrying the load;
and obtaining dynamic parameters of the load according to the mass information of the load, the load dynamic data and the no-load dynamic data, wherein the dynamic parameters comprise the mass center position and the main inertia moment of the load.
2. The kinetic parameter identification method of claim 1, wherein the robotic arm is a multi-axis robotic arm, and the step of traversing the plurality of identified poses comprises:
after a load is arranged at the tail end of the mechanical arm, a rotating shaft of the mechanical arm is rotated to obtain a first identification attitude, wherein the first identification attitude is an attitude that the load is not influenced by double image when the last shaft rotates;
the mechanical arm keeps the first identification gesture, and first load dynamic data of a last shaft of the mechanical arm when the last shaft rotates for a preset angle at different rotating speeds when carrying a load and first no-load dynamic data of the last shaft of the mechanical arm when the last shaft does not rotate for the preset angle at different rotating speeds when not carrying the load are collected;
calculating according to the first load dynamics data and the first no-load dynamics data of the last axis to obtain a main inertia moment of the load relative to the Z-axis direction with the coordinate of the last axis as an origin
3. The method according to claim 2, wherein after the step of obtaining the main moment of inertia of the load with respect to the Z-axis direction with the last axis coordinate as the origin point according to the load dynamics data and the no-load dynamics data calculation of the last axis, the method further comprises:
after a load is arranged at the tail end of the mechanical arm, a rotating shaft of the mechanical arm is rotated to obtain a second identification attitude, wherein the second identification attitude is an attitude of the load influenced by gravity when the last shaft rotates;
the mechanical arm keeps the second identification posture, and second load dynamics data of a last shaft of the mechanical arm when the last shaft rotates for a preset angle at different rotating speeds when carrying a load are collected, and second no-load dynamics data of the last shaft of the mechanical arm when the last shaft does not carry the load and rotates for the preset angle at different rotating speeds are collected;
according to the second load dynamics data of the last shaft, the second no-load dynamics data and the main inertia moment
And calculating to obtain coordinates x and y of the center of mass position of the load relative to a mechanical arm coordinate system.
4. The method of claim 3, wherein the second unloaded dynamics data and the principal moment of inertia are determined from the second loaded dynamics data of the last axis, the second unloaded dynamics data and the principal moment of inertia
After the step of calculating, obtaining coordinates x, y of the centroid position of the load relative to the robot arm coordinate system, the method further comprises:
after a load is arranged at the tail end of the mechanical arm, a rotating shaft of the mechanical arm is rotated to obtain a third identification attitude, wherein the third identification attitude is an attitude that the load and a last shaft are not influenced by gravity when a previous shaft of the last shaft rotates;
the mechanical arm keeps the third identification posture, collects third load dynamic data of a previous shaft of the last shaft when the previous shaft of the last shaft of the mechanical arm rotates for a preset angle at different rotating speeds when carrying a load, and collects third no-load dynamic data of the previous shaft of the last shaft when the previous shaft of the last shaft of the mechanical arm rotates for a preset angle at different rotating speeds when not carrying a load;
calculating according to third load dynamics data and third no-load dynamics data of a previous axis of the last axis to obtain an inertia tensor of the load in a Z-axis direction with a coordinate of the previous axis of the last axis as an origin
5. The method according to claim 4, wherein the inertia tensor of the load in the Z-axis direction with the coordinate of the previous axis of the last axis as the origin is obtained by calculating the third load dynamics data and the third unloaded dynamics data of the previous axis of the last axis
After the step of (a), the method further comprises:
after a load is arranged at the tail end of the mechanical arm, a rotating shaft of the mechanical arm is rotated to obtain a fourth identification attitude, wherein the fourth identification attitude is an attitude that the load and a last shaft are not influenced by gravity when a previous shaft of the last shaft rotates;
the mechanical arm keeps the fourth identification posture, and fourth load dynamics data of a previous shaft of the last shaft of the mechanical arm when the previous shaft of the last shaft of the mechanical arm rotates for a preset angle at different rotating speeds respectively when carrying a load are collected, and fourth no-load dynamics data of the previous shaft of the last shaft of the mechanical arm when the previous shaft of the last shaft of the mechanical arm does not rotate for the preset angle at different rotating speeds respectively when not carrying the load are collected;
the inertia tensor is determined according to the fourth load dynamics data, the fourth unloaded dynamics data
And calculating to obtain the coordinate z of the centroid position of the load relative to the coordinate system of the mechanical arm and the main inertia distance based on the centroid of the load as the origin coordinate system.
6. A kinetic parameter identification device for application to a load at the end of a robotic arm, the device comprising:
the quality acquisition module is used for acquiring the quality information of the load;
the gesture recognition module is used for rotating a rotating shaft of the mechanical arm after the load is arranged at the tail end of the mechanical arm to obtain a plurality of recognition gestures;
the traversing module is used for traversing the plurality of recognition gestures and executing the following processing to the traversed current recognition gesture: keeping the mechanical arm in the current identification posture, collecting load dynamics data when a rotating shaft of the mechanical arm rotates for a preset angle at a preset rotating speed when carrying a load, and collecting no-load dynamics data when the rotating shaft of the mechanical arm rotates for the preset angle at the preset rotating speed when not carrying the load;
and the dynamic parameter module is used for obtaining dynamic parameters of the load according to the mass information of the load, the load dynamic data and the no-load dynamic data, wherein the dynamic parameters comprise the mass center position and the main inertia moment of the load.
7. The kinetic parameter identification device of claim 6, wherein the traversal module comprises:
the first identification attitude unit is used for rotating a rotating shaft of the mechanical arm after a load is arranged at the tail end of the mechanical arm to obtain a first identification attitude, and the first identification attitude is an attitude that the load is not affected by double images when the last shaft rotates;
the first data acquisition unit is used for keeping the first identification posture of the mechanical arm, acquiring first load dynamic data of a last shaft of the mechanical arm when the last shaft rotates for a preset angle at different rotating speeds when carrying a load, and acquiring first no-load dynamic data of the last shaft of the mechanical arm when the last shaft does not rotate for the preset angle at different rotating speeds when not carrying the load;
a main inertia moment unit for calculating according to the first load dynamics data and the first no-load dynamics data of the last axis to obtain a main inertia moment of the load relative to the Z-axis direction with the last axis coordinate as the origin
8. The kinetic parameter identification device of claim 7, wherein the traversal module further comprises:
the second gesture recognition unit is used for rotating the rotating shaft of the mechanical arm after the tail end of the mechanical arm is provided with a load to obtain a second recognition gesture, and the second recognition gesture is a gesture of the load influenced by gravity when the last shaft rotates;
the second data acquisition unit is used for keeping the second identification posture of the mechanical arm, acquiring second load dynamic data of a last shaft of the mechanical arm when the last shaft rotates for a preset angle at different rotating speeds when carrying a load, and acquiring second no-load dynamic data of the last shaft of the mechanical arm when the last shaft does not rotate for the preset angle at different rotating speeds when not carrying the load;
a centroid position unit for determining second no-load dynamics data, and a main moment of inertia based on second load dynamics data of the last axis
And calculating to obtain coordinates x and y of the center of mass position of the load relative to a coordinate system of the mechanical arm.
9. An apparatus, comprising: memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the kinetic parameter identification method according to any of claims 1 to 5 when executing the computer program.
10. A storage medium having stored thereon instructions which, when run on a computer, cause the computer to perform a kinetic parameter identification method as defined in any one of claims 1 to 5.
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