CN206216738U - A kind of six-DOF robot end load dynamic parameters identification device - Google Patents
A kind of six-DOF robot end load dynamic parameters identification device Download PDFInfo
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- CN206216738U CN206216738U CN201621127259.3U CN201621127259U CN206216738U CN 206216738 U CN206216738 U CN 206216738U CN 201621127259 U CN201621127259 U CN 201621127259U CN 206216738 U CN206216738 U CN 206216738U
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Abstract
The utility model discloses a kind of six-DOF robot end load dynamic parameters identification device, load, real-time control system including six-shaft industrial robot, some different qualities for being alternatively provided in the six-shaft industrial robot end, described real-time control system are used to implement robot the real-time motion data collection of Millisecond；The real-time motion data of collection includes encoder values, moment values.The utility model sensor-based system uses efficient real-time control system, the real-time data acquisition of the achievable Millisecond to robot, including displacement, motor output etc., gathered data amount is expansible, the characteristics of with changeability, meet the identification to industrial robot end load kinetic parameter.
Description
Technical field
The utility model is related to be applied to the method and Six-DOF industrial robot of end load dynamic parameters identification
A kind of device, and in particular to six-DOF robot end load dynamic parameters identification device.
Background technology
Now, the test device of Identification of Dynamic Parameters of Amanipulator is a lot.It is including four-degree-of-freedom and six degree of freedom
Industrial robot.The emulation and control of industrial robot have been required for an accurate Dynamic Models of Robot Manipulators.At present, it is many
The light-duty widely used harmonic drive with relative flexibility of high performance robot drives joint motions, and flexibility of joint can not
Ignore.Hence set up accurate flexible joint Dynamic Models of Robot Manipulators, it is desirable to have relatively good parameter identification method.
For industrial robot, generally only motor position and motor torque data can be surveyed.Thus be accordingly used in flexible pass
The additional sensor for saving Identification of Dynamic Parameters of Amanipulator mainly has acceleration transducer, connecting rod position and velocity sensor, power
Square sensor etc..From for the angle of practical application, because for robot, increasing extra internal sensor not only cost
Costliness, and cannot sometimes realize.Therefore, many scholars propose and need only to motor torque and motor position information
Discrimination method.In these methods, resilient bias are measured using additional sensor, but include unknown parameter by solution
The equation of motion obtain.
At present, the method for end load dynamic parameters identification is variant.For the industrial robot of different model,
The kinetic model of foundation and optimal excitation track are different.The sensor-based system of use also difference, thus number
According to collection approach also differ.
However, the platform identification effect of many Six-DOF industrial robot end load dynamic parameters identifications is not very
Ideal, because not good and algorithm the selection of compatibility of software and hardware used is improper, causes the result of identification in the presence of very big
Error.
Utility model content
To solve the problems, such as that, to industrial robot end load dynamic parameters identification, the utility model provides a kind of six
Degree of freedom robot end load dynamic parameters identification device, is distinguished using a series of different loads in mechanical structure to design
Know the experimental program of load, design optimal excitation track, be identification loading kinetics so as to use real-time control system gathered data
Parametric results provide external condition.
The purpose of this utility model is achieved through the following technical solutions：
A kind of six-DOF robot end load dynamic parameters identification device, including six-shaft industrial robot, can replace
It is arranged on load, the real-time control system of some different qualities of the six-shaft industrial robot end with changing, described is real-time
Control system is used to implement robot the real-time motion data collection of Millisecond.
Further, the real-time motion data of collection includes encoder values, moment values.
Further, the material of described load is steel.
It is of the present utility model to have the following advantages that relative to prior art：
(1) the utility model is, by being equipped with a series of different loads, and can to recognize the kinetic parameter of load, is tested
Card parameter is provided by three dimensional design graphics software.
(2) the utility model is the accuracy of the load quality recognized by experimental method of weighing, inspection, is also checking mould
The evidence of the type degree of accuracy.
(3) the utility model carries out data sampling by using efficient real-time control system, realizes Millisecond and counts in real time
According to collection, it is ensured that the precision of collecting sample.Gathered data includes displacement and motor output etc., and data volume is expansible, so that
There is provided the theoretical foundation of identification.
Brief description of the drawings
Fig. 1 is the utility model Six-DOF industrial robot loading kinetics parameter identification schematic device.
Fig. 2 is that identification objects first are loaded.
Fig. 3 is that identification objects second are loaded.
Fig. 4 parameter identification flow charts.
It is shown in figure：1- is loaded；2- six-shaft industrial robots.
Specific embodiment
To further understand the utility model, the utility model is described further with reference to the accompanying drawings and examples,
It should be understood that, the claimed scope of the utility model is not limited to the scope of embodiment statement.
Embodiment one
As shown in Figure 1 to Figure 3, a kind of six-DOF robot end load dynamic parameters identification device, including six axles
Industrial robot 2, be alternatively provided in the six-shaft industrial robot end some different qualities load 1, in real time control
System processed, described real-time control system is used to implement robot the real-time motion data collection of Millisecond.
Specifically, the real-time motion data of collection includes encoder values, moment values.
Specifically, the material of described load is steel.
The present embodiment using a series of different loads 1 being equipped with of three dimensional design graphics software design, quality can designed, designed,
This experimental design has the first load, the second load；Steel matter is used when designed, designed is loaded, and is processed.
Embodiment two
As shown in figure 4, a kind of six-DOF robot end load dynamic parameters identification method based on described device,
Including step：
(1) kinetic model is set up according to Lagrange's equation；
(2) design excitation track；
(3) real-time data acquisition of Millisecond is implemented to robot by real-time control system, and to multiple repairing weld data
Make average and central difference method and improve signal to noise ratio；Gathered data amount is expansible, both ensure that the abundance of sampled data, also to distinguish
The kinetic parameter for knowing end load provides data basis.
(4) load parameter identification, parameter is substituted into the kinetic model built up, and then estimates the dynamics to be recognized
Parameter；
(5) model checking, torque theoretical value is calculated with the reality for reading using the loading kinetics parameter for recognizing
Moment values compare, and verify model accuracy.
Specifically, described step (1) is specifically included：
(11) generalized coordinates, is selected, finite dimension model is set up, it is wide to select the modal coordinate of joint variable and flexible link
Adopted coordinate；
(12) kinetic energy, potential energy and virtual work expression formula, are set up；
(13), Lagrange's equation is derived and is arranged, derived necessary inertia item, coriolis force and centripetal force
Item, gravity item, frictional force；
(14), Lagrange's dynamical equations are integrated into the linear equation form for calculating torque.
Specifically, described step (14) is specifically included：
(141) basis：
Complete dynamics formula is drawn after derivation：
Wherein, the inertial parameter of calculating is：
TpIt is transformation matrixs of the coordinate system P relative to basis coordinates system 0；qiIt is each joint angle angle value；
JPIt is pseudo- inertial matrix：
The centripetal force and coriolis force coefficient entry of calculating is：
The gravity of calculating is
The frictional force of calculating：
Fvj,FsjIt is viscous friction, Coulomb friction force coefficient；
(142) finally by Lagrange's dynamical equations abbreviation, the elementary dynamics parameter χ to be recognized is extracted：
The linear equation for calculating torque can be turned to：
τ=W χ+ρ.
Specifically, the step (2) specifically includes：
Design is using periodicity track, and the excitation track in each joint is the algebraical sum of sine and cosine functions, i.e., limited
Fourier series function, then the joint position q in each joint of roboti, speedAnd accelerationPlanning is as follows
Specifically, the step (4) specifically includes：
(41) loading kinetics parameter is recognized with reference to three kinds of different load torque identification methods, the first load torque identification side
Method carries out difference and subtracts each other using the coupling terms of simplified elementary dynamics parameter out, and the difference for obtaining is charted with three-dimensional again
The load inertia data that software is obtained carry out error analysis and are recognized；Second load torque identification method is to read using having non-loaded
Torque numerical value recognized；3rd load torque identification method utilizes global model identification robot dynamics parameter and load parameter.
(42) optimal identification result is chosen from three kinds of identification results.
Specifically, in described step (41),
The first described load torque identification method includes step：
(401) according to equation τ=W χ+ρ, estimate χ is calculated with least square method；
(402) choose optimal track to be tested, first not filling load carries out parameter identification, obtains base during one group of zero load
Plinth kinetic parameter χ0；
(403) and then again tested with identical track, parameter identification is carried out with first group of load, obtained first group
Load elementary dynamics parameter χ1；
(404) using second group of load instead again carries out parameter identification, obtains second group of load elementary dynamics parameter χ2；
(405) first group of elementary dynamics parameter of load is asked for：Δχ1=χ1-χ0；
(406) second group of elementary dynamics parameter of load is asked for：Δχ2=χ2-χ0；
The second described load torque identification method includes step：
(411) reading torque numerical value under conditions of load is not filled, is denoted as YWL, it is loaded on reading torque number under conditions of load
Value, is denoted as YT；
(412) trying to achieve identification equation is
Wherein, W+=(WTW)-1WT
YT-YWLIt is the matrix of (6 × ne) × 1；
The 3rd described load torque identification method includes step：
(421) kinetics equation under no load conditions is deformed into matrix phase with kinetics equation when taking load
The form for multiplying：
Wherein：
Ya=Waχ
Yb=Wbχ+WLχ
(422) and then with weighted least-squares method WLS above-mentioned matrix equation is solved.
In addition, described step (5) also includes step：
Using weighing, experimental method is tested and is analyzed to the qualitative data for loading, and can provide theory for the accuracy of identification
Foundation.Three Dimensional Solid Design is carried out to different loads with three-dimensional graphics software, can be drawn respectively by three dimensional design graphics software
The inertial parameter of individual entity load, error analysis is carried out with the actual loading kinetic parameter theoretical value for picking out.Use above-mentioned institute
The loading kinetics parameter that the three kinds of loading kinetics parameter identification methods enumerated are recognized is based on linear equation τ=W χ+ρ
Calculate, the torque theoretical value for calculating compared with the actual torque value for reading so that using torque error percentage analysis its
The accuracy of model and the accuracy and feasibility of identified parameters result.
The present embodiment is at design excitation track, it is considered to a series of constraintss of robot motion, such as joint angles
Scope, velocity interval etc..In excitation, different speed are respectively adopted data are sampled.
The sensor-based system that the present embodiment is used is real-time control system, for the motion of robot, realizes Millisecond
Real-time data acquisition, including displacement, motor output etc..Gathered data amount is expansible in the software configuration of design, both ensure that and has adopted
The abundance of sample data, also provides data basis to recognize the kinetic parameter of end load.
As shown in Figure 1, shown in Fig. 2：First load is loaded on robot end, is then carried out with the excitation track for designing
Excitation；In the engineering of data acquisition and procession, one is that the joint position signal that will gather is filtered by good tuning band logical
Ripple, so that for calculating required angular speed and angular acceleration, two is to read moment values, then by data processing, conversion
Into the calculating parameter for needing.
As shown in Figure 1, shown in Fig. 3：Second load is loaded on robot end, then again with the optimal excitation rail for designing
Mark is encouraged, and in the engineering of data acquisition and procession, one is that will gather the joint position signal returned by good tuning band logical
Filtering, so that for calculating required angular speed and angular acceleration, collection two is to read moment values, then by data processing,
It is converted into the calculating parameter of needs.
After by a series of identification preparation process, loading kinetics are joined with reference to three kinds of different load torque identification methods
Number is recognized, and chooses optimal identification result.
Above-described embodiment of the present utility model is only intended to clearly illustrate the utility model example, and is not
Restriction to implementation method of the present utility model.For those of ordinary skill in the field, on the basis of described above
On can also make other changes in different forms.There is no need and unable to be exhaustive to all of implementation method.
All any modification, equivalent and improvement made within spirit of the present utility model and principle etc., should be included in this reality
Within new scope of the claims.
Claims (3)
1. a kind of six-DOF robot end load dynamic parameters identification device, it is characterised in that：Including six-shaft industrial machine
Device people, be alternatively provided in the six-shaft industrial robot end some different qualities load, real-time control system, institute
The real-time control system stated is used to implement robot the real-time motion data collection of Millisecond.
2. six-DOF robot end load dynamic parameters identification device according to claim 1, it is characterised in that：
The real-time motion data of collection includes encoder values, moment values.
3. six-DOF robot end load dynamic parameters identification device according to claim 1, it is characterised in that：
The material of described load is steel.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106346513A (en) * | 2016-10-17 | 2017-01-25 | 华南理工大学 | Device and method for identifying kinetic parameters of terminal loads of six-degree-of-freedom robot |
| CN112621748A (en) * | 2020-12-02 | 2021-04-09 | 法奥意威(苏州)机器人系统有限公司 | Robot load identification method |
| WO2021238049A1 (en) * | 2020-05-28 | 2021-12-02 | 杭州键嘉机器人有限公司 | Method, apparatus and control device for multi-load self-adaptive gravity compensation of manipulator |
-
2016
- 2016-10-17 CN CN201621127259.3U patent/CN206216738U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106346513A (en) * | 2016-10-17 | 2017-01-25 | 华南理工大学 | Device and method for identifying kinetic parameters of terminal loads of six-degree-of-freedom robot |
| WO2021238049A1 (en) * | 2020-05-28 | 2021-12-02 | 杭州键嘉机器人有限公司 | Method, apparatus and control device for multi-load self-adaptive gravity compensation of manipulator |
| CN112621748A (en) * | 2020-12-02 | 2021-04-09 | 法奥意威(苏州)机器人系统有限公司 | Robot load identification method |
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