WO2019171516A1 - Système d'identification de paramètre inertiel d'un robot articulé verticalement, procédé d'identification de paramètre inertiel, et dispositif et procédé de commande pour robot articulé verticalement - Google Patents

Système d'identification de paramètre inertiel d'un robot articulé verticalement, procédé d'identification de paramètre inertiel, et dispositif et procédé de commande pour robot articulé verticalement Download PDF

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Publication number
WO2019171516A1
WO2019171516A1 PCT/JP2018/008868 JP2018008868W WO2019171516A1 WO 2019171516 A1 WO2019171516 A1 WO 2019171516A1 JP 2018008868 W JP2018008868 W JP 2018008868W WO 2019171516 A1 WO2019171516 A1 WO 2019171516A1
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Prior art keywords
torque
joint angle
articulated robot
end effector
joint
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PCT/JP2018/008868
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English (en)
Japanese (ja)
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良 永田
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株式会社Ｆｕｊｉ
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Priority to JP2020504572A priority Critical patent/JP6862604B2/ja
Priority to PCT/JP2018/008868 priority patent/WO2019171516A1/fr
Publication of WO2019171516A1 publication Critical patent/WO2019171516A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices

Definitions

  • the present specification relates to an inertial parameter identification system, an inertial parameter identification method, and a vertical parameter for a vertical articulated robot for identifying an inertial parameter when the end effector attached to the wrist at the tip of the arm of the vertical articulated robot is exchanged.
  • a technique relating to a control device and control method for an articulated robot is disclosed.
  • Vertically articulated robots which are currently widely used as industrial robots, can handle various tasks by changing the end effector (hand, gripper, welding machine, screwing machine, etc.) attached to the wrist at the arm tip. It has become. Since the end effector has different weight and center of gravity for each type, positioning the end effector's swivel movement changes the load weight and center of gravity applied to the wrist at the arm tip when the end effector at the wrist at the arm tip is changed. If the weight of the end effector and the position of the center of gravity are known, the performance of the end effector will be known. If the control parameters set in the control unit of the vertical articulated robot are matched to the known data, the end effector's turning motion will be positioned The positioning performance in various operations of the vertical articulated robot including the performance can be improved.
  • Patent Document 1 Japanese Patent Laid-Open No. 10-138187
  • this automatic calculation method first, an operator operates a teaching device to teach a reference posture, creates an operation pattern program based on the reference posture, and in accordance with the operation pattern program, a predetermined load ( An articulated robot with an end effector) is operated, and during this operation, the drive current of the servo motor that drives each drive axis (each joint axis) is detected at each preset scan time, And calculating the average value of the torque applied to each drive shaft during the execution of the operation pattern program based on the detected average value of the drive current, and the average value of this torque to the unbalance torque applied to each drive shaft By assuming that they are equivalent, the weight and the position of the center of gravity of the load included as unknowns in the unbalance torque are calculated.
  • Patent Document 1 when selecting the reference posture of the robot, care must be taken that a large unbalance torque acts on the drive shaft during the execution of the motion pattern program.
  • the task of selecting the posture must be performed by a skilled worker who is familiar with robot technology, and is not easy for many workers who are not familiar with robot technology.
  • teaching the reference posture it is necessary for an operator to position each drive shaft of the robot by operating the teaching device one by one, which is troublesome.
  • reference posture data taught in advance by a teaching device is stored in a storage device of a robot control device, and stored when calculating the load weight and the position of the center of gravity. It has been proposed to read out reference posture data from the apparatus and create an operation pattern program based on this data.
  • a vertical parameter for identifying an inertial parameter when an end effector attached to the wrist at the tip of an arm of a vertical articulated robot is replaceably operated by a joint axis of the wrist driven by a motor.
  • a control unit that makes the end effector reciprocate in a predetermined section including a joint angle at which a gravitational torque acting on a joint axis of the wrist is zero, and a reciprocating turn of the end effector
  • a joint angle calculation unit that measures and calculates the joint angle of the joint axis of the wrist during operation, and a torque calculation unit that measures and calculates the torque of the motor at each joint angle during the reciprocating turning operation of the end effector
  • a gravitational torque calculation unit that calculates a gravitational torque compensated for a friction torque from the torque of the motor at each joint angle based on a torque (outward torque) and a torque of the motor at each joint angle on the return path (return path torque);
  • An inertia parameter identification unit that identifies the inertia parameter based on the gravity torque at each joint angle calculated by the gravity torque calculation unit is provided.
  • the end effector attached to the wrist at the tip of the arm is reciprocally swung in a predetermined section including the joint angle at which the gravitational torque becomes zero, thereby measuring and calculating the forward torque and the return torque at each joint angle. Since, based on these calculated values, the gravitational torque compensated for the friction torque is calculated from the motor torque at each joint angle, and the inertia parameter is identified based on the gravitational torque at each joint angle, the user can Even if the end effector is attached to the wrist at the tip of the arm, the user can easily identify the inertial parameter of the end effector.
  • FIG. 1 is a side view showing a 5-axis vertical articulated robot of one embodiment.
  • FIG. 2 is a diagram (part 1) showing the configuration of a 5-axis vertical articulated robot with joint symbols, and shows a joint angle at which a reciprocating turning operation is started when an inertia parameter is identified.
  • FIG. 3 is a diagram (part 2) in which the configuration of the 5-axis vertical articulated robot is represented by joint symbols, and shows the joint angle at which the gravity torque is zero.
  • FIG. 4 is a diagram (part 3) in which the configuration of the 5-axis vertical articulated robot is displayed with joint symbols, and shows the joint angle at which the reciprocating turning motion is turned back when the inertia parameter is identified.
  • FIG. 3 is a diagram (part 2) in which the configuration of the 5-axis vertical articulated robot is represented by joint symbols, and shows the joint angle at which the gravity torque is zero.
  • FIG. 4 is a diagram (part 3) in which the configuration of the 5-axis vertical articulated robot is displayed with joint
  • FIG. 5 is a block diagram showing a configuration for controlling the operation of identifying the inertia parameter of the joint axis (J4) of the wrist of the 5-axis vertical articulated robot.
  • FIG. 6 is a flowchart showing the processing flow of the inertia parameter identification program.
  • FIG. 7 is a graph showing waveforms of time series data of joint angles measured and calculated during a reciprocating turning operation.
  • FIG. 8 is a graph showing the waveform of the time series data of the torque of the servo motor measured and calculated during the reciprocating turning operation.
  • FIG. 9 is a graph showing the waveform of the calculation data for the forward and return torques and the waveform of the gravitational torque obtained by averaging both torques.
  • FIG. 10 is a graph showing the waveform of gravity torque calculated by attaching and measuring a plurality of reference weights each having a different weight from the waveform of gravity torque calculated by attaching an end effector to the wrist of the arm tip. is there.
  • the 5-axis vertical articulated robot 11 includes a fixed base 13 installed on a factory floor 12, a first arm 15 provided on the fixed base 13 so as to be rotatable around a first joint axis 14 (J1), A second arm 17 is provided at the tip of the first arm 15 so as to be pivotable by the second joint shaft 16 (J2), and a tip is provided at the tip of the second arm 17 so as to be pivotable by the third joint shaft 18 (J3).
  • the third arm 19 thus formed, a wrist portion 21 provided at the tip of the third arm 19 so as to be rotatable by a fourth joint shaft 20 (J4), and a fifth joint shaft 22 (J5) on the wrist portion 21. It is comprised from the end effector 23 attached to the center so that rotation and replacement
  • the end effector 23 may be any of a hand, a gripper, a welder, a screwing machine, and the like. Further, the end effector 23 may be created by a manufacturer of the 5-axis vertical articulated robot 11 or may be designed and manufactured by a system integrator or a user.
  • Each of the first to fifth joint axes 14, 16, 18, 20, and 22 of the 5-axis vertical articulated robot 11 is an actuator such as a servo motor (the fourth joint axis that is the joint axis of the wrist portion 21 in FIG. 5). Only the servo motor 31 that drives 20 is shown).
  • the control device 32 of the 5-axis vertical articulated robot 11 drives the servo motor 31 in accordance with a controller 33 that controls the turning operation of the end effector 23 (the rotation operation of the fourth joint shaft 20) and the torque command from the controller 33.
  • the storage unit 35 is configured by a non-volatile storage device such as a hard disk device, a ROM, or a flash memory that retains stored data even when the power is turned off.
  • the servo motor 31 is provided with an encoder 36 for detecting a rotation angle, and information on the rotation angle detected by the encoder 36 is fed back to the controller 33 via the servo amplifier 34.
  • the controller 33 feedback-controls the servomotor 31 so that the rotation angle of the servomotor 31 detected by the encoder 36 matches the rotation angle command, and the servo amplifier 34 receives the torque command (drive current command from the controller 33). ) To control the drive current.
  • the end effector 23 attached to the wrist portion 21 of the 5-axis vertical articulated robot 11 has a different weight and center of gravity for each type. Therefore, when the end effector 23 is replaced, the end effector 23 turns (the fourth joint axis 20).
  • the user who uses the 5-axis vertical articulated robot 11 identifies the weight and the center of gravity position of the end effector 23 which are inertia parameters of the turning operation of the end effector 23 (the rotation operation of the fourth joint shaft 20) before the start of production.
  • the controller 33 executes an inertia parameter identification program shown in FIG. 6 described later to cause the end effector 23 to reciprocate in a predetermined section including a joint angle at which the gravitational torque acting on the fourth joint shaft 20 is zero.
  • the weight and the gravity center position of the end effector 23, which are the inertia parameters of the turning operation of the end effector 23 (the rotation operation of the fourth joint shaft 20) are automatically identified, and 5 according to the weight and the gravity center position of the end effector 23.
  • the control parameters of the axis vertical articulated robot 11 are automatically changed.
  • the controller 33 functions as the control unit 41 that makes the end effector 23 reciprocate in a predetermined section including a joint angle at which the gravitational torque acting on the fourth joint shaft 20 becomes zero when the inertia parameter is identified. To do. Further, the controller 33 functions as a joint angle calculation unit 42 that measures and calculates the joint angle of the fourth joint shaft 20 during the reciprocating turning operation of the end effector 23, and each joint during the reciprocating turning operation of the end effector 23. It also functions as a torque calculation unit 43 that measures and calculates the torque of the servo motor 31 at an angle.
  • the joint angle calculation unit 42 acquires detection information of the encoder 36 that detects the rotation angle of the servo motor 31 during the reciprocating turning operation of the end effector 23 at a predetermined period, and the fourth joint is obtained from the detection information of the encoder 36.
  • the joint angle of the shaft 20 is calculated at a predetermined cycle.
  • FIG. 7 shows the waveform of the time series data of the joint angles measured and calculated during the reciprocating turning operation.
  • the torque calculation unit 43 calculates the torque of the servo motor 31 at each joint angle from a drive current command that is a torque command to the servo motor 31.
  • FIG. 8 shows a waveform of time-series data of the torque of the servo motor 31 measured and calculated during the reciprocating turning operation.
  • the controller 33 performs the torque of the servo motor 31 at each forward joint angle calculated by the joint angle calculation unit 42 and the torque calculation unit 43 (hereinafter referred to as “forward torque”) and the torque of the servo motor 31 at each joint angle of the return path. (Hereinafter referred to as “return torque”), and functions as a gravitational torque calculation unit 44 that calculates the gravitational torque compensated for the friction torque from the torque of the servo motor 31 at each joint angle. It also functions as an inertia parameter identification unit 45 that identifies the inertia parameter of the turning operation of the end effector 23 (the rotation operation of the fourth joint shaft 20) based on the gravitational torque at each joint angle.
  • FIG. 9 shows waveforms of time series data of forward torque and return torque and time series data of gravity torque obtained from both torques.
  • the joint angle of the fourth joint shaft 20 is time-differentiated to obtain the rotational speed of the fourth joint shaft 20, and the fourth joint A section in which the rotational speed of the shaft 20 is lower than a predetermined forward threshold (for example, ⁇ 100 rpm) is divided into forward torque, and a section in which the rotational speed of the fourth joint shaft 20 is higher than a predetermined backward threshold (for example, +100 rpm). Is divided into return torque.
  • a predetermined forward threshold for example, ⁇ 100 rpm
  • a predetermined backward threshold for example, +100 rpm
  • the end effector 23 is reciprocally swung in a predetermined section including a joint angle at which the gravitational torque acting on the fourth joint shaft 20 is zero.
  • the joint angle at which the gravitational torque becomes 0 means that the fourth joint shaft 20 is not driven by the servo motor 31 and is free to rotate. It is the joint angle when it is in a state of hanging naturally as a fulcrum. Since the joint angle at which the gravitational torque becomes zero changes according to the position of the center of gravity of the end effector 23, the end effector 23 is reciprocally swung in a predetermined section including the joint angle at which the gravitational torque is zero, and the gravitational torque is measured. Thus, if the joint angle at which the gravitational torque is 0 can be calculated, the position of the center of gravity of the end effector 23, which is one of the inertia parameters, can be identified from the joint angle.
  • the gravitational torque calculation unit 44 calculates the gravitational torque that compensates the friction torque from the torque of the servo motor 31 at each joint angle when the end effector 23 is reciprocally turned by the fourth joint shaft 20.
  • the friction torque is torque generated by friction of the fourth joint shaft 20
  • the gravity torque is torque generated by gravity.
  • the torque acting on the fourth joint shaft 20 includes the acceleration / deceleration torque generated by the acceleration / deceleration of the reciprocating turning operation, in addition to the torque, friction torque, and gravity torque of the servo motor 31.
  • Servo motor 31 torque gravity torque + friction torque + acceleration / deceleration torque
  • the influence of the acceleration / deceleration torque can be reduced to a negligible level.
  • the turning speed should be made as low as possible, and the section turning at a constant speed should be made as long as possible. If the influence of the acceleration / deceleration torque can be ignored, the relationship among the torque of the servo motor 31, the friction torque, and the gravity torque is expressed by the following equation.
  • Torque of servo motor 31 gravity torque + friction torque
  • the gravitational torque at each joint angle has the same value in the forward path and the backward path of the reciprocating turning operation.
  • the friction torque at each joint angle reverses the sign ( ⁇ ) in the direction of action on the forward and return paths of the reciprocating turning operation, but the absolute value of the friction torque at each joint angle is the same on the forward and return paths. Value. Therefore, when the average value of the forward torque and the backward torque at each joint angle (that is, the value obtained by adding the forward torque and the backward torque at each joint angle and dividing by 2) is calculated, the torque of the servo motor 31 at each joint angle is calculated. Gravitational torque that cancels the influence of friction torque can be obtained.
  • each joint angle By calculating the average value of the forward torque and the backward torque at, it is possible to obtain the gravitational torque that cancels the influence of both the friction torque and the acceleration / deceleration torque from the torque of the servo motor 31 at each joint angle.
  • the torque is linearly interpolated in both the forward path and the return path, and the torque is calculated for each joint angle at an equal pitch (for example, every 1 deg in a section from 35 deg to 65 deg). Obviously, the torque may be calculated for each joint angle smaller than 1 deg or for each joint angle larger than 1 deg.
  • the section for reciprocating turning is, for example, a section from 25 deg to 75 deg (or 20 deg to 80 deg), and the section for turning at a constant speed is, for example, a section from 35 deg to 65 deg.
  • An angle interval may be used.
  • the joint angle at which the gravitational torque is 0 can be identified from the waveform of the gravitational torque calculated for each joint angle in FIG.
  • the position of the center of gravity of the end effector 23, which is one of the inertia parameters, may be identified from the joint angle at which the gravitational torque is 0, or the joint angle at which the gravity torque is 0 is directly used as substitute information for the position of the center of gravity of the end effector 23. It may be used.
  • the coefficient of the linear function is calculated by linearly approximating the waveform of the gravity torque with respect to the joint angle, and the joint angle at which the gravity torque is 0 may be identified. good.
  • a plurality of reference weights having different weights are prepared in advance, and the reference weights are applied to the wrist portion 21 one by one.
  • the gravity torque at each joint angle is calculated by performing the reciprocating turning operation, and the calculation data of the gravity torque at each joint angle of a plurality of reference weights is stored in the storage unit 35.
  • the gravitational torque of the plurality of reference weights stored in the storage unit 35 is a waveform of the gravitational torque calculated by the gravitational torque calculation unit 44.
  • the weight of the reference weight that minimizes the difference between the two is identified as the weight of the end effector 23.
  • FIG. 10 shows the gravity torque waveform calculated by attaching and measuring a plurality of reference weights each having a different weight from the gravity torque waveform calculated by attaching the end effector 23 to the wrist portion 21 and measuring.
  • the gravity torque waveform calculated by attaching and measuring the end effector 23 is compared with the gravity torque waveforms of four types of reference weights (0 kg, 0.4 kg, 1 kg, 2 kg) having different weights.
  • the weight of the reference weight that minimizes the difference between the two is identified as the weight of the end effector 23 (1 kg in the example of FIG. 10).
  • the controller 33 is a control parameter that changes the control parameter of the servo motor 31 of the 5-axis vertical articulated robot 11 based on the inertia parameters (weight and center of gravity of the end effector 23) identified by the inertia parameter identification unit 45 before the start of production. It also functions as the changing unit 46.
  • the identification of the inertia parameter of the end effector 23 and the change of the control parameter of the servo motor 31 of the present embodiment described above are executed by the controller 33 according to the inertia parameter identification program of FIG.
  • the processing content of the inertia parameter identification program of FIG. 6 executed by the controller 33 will be described.
  • the controller 33 starts the inertia parameter identification program of FIG. 6, first, in step 101, the controller 33 stands by until an identification start operation is performed.
  • the identification start operation means that the operator attaches the end effector 23 to be identified to the wrist 21 of the 5-axis vertical articulated robot 11 and operates an operation unit (not shown) of the control device 32 to perform inertia. This operation starts parameter identification.
  • step 102 the reciprocating turning operation of the end effector 23 (rotational rotation operation of the fourth joint shaft 20) is started at a slow constant speed equal to or lower than a predetermined speed.
  • the reason why the reciprocating turning operation of the end effector 23 is performed at a constant speed lower than a predetermined speed is to allow the influence of acceleration / deceleration torque to be ignored.
  • step 103 the time series data of the encoder 36 (time series data of the rotation angle of the servo motor 31) is acquired, and the time series data of the joint angle is obtained from the time series data of the encoder 36 (see FIG. 7). Is calculated.
  • step 104 time series data of the drive current command, which is a torque command to the servo amplifier 34, is obtained, and the time series data of the drive current command and the time series data of the joint angle calculated in the above step 103 are acquired. Based on the above, the forward torque and the backward torque, which are the torques of the servo motor 31 at each joint angle of the reciprocating turning operation, are calculated (see FIG. 9).
  • steps 103 and 104 are executed in a predetermined cycle until the reciprocating turning operation is completed.
  • the controller 33 determines in step 105 that the reciprocating turning operation has been completed, the controller 33 proceeds to step 106 and averages the forward torque and the return torque at each joint angle calculated in step 104 (that is, the forward torque at each joint angle). And a value obtained by adding 2 to the return torque and dividing by 2) is calculated as gravity torque at each joint angle.
  • Step 107 the coefficient of the linear function is calculated by linearly approximating the gravity torque waveform calculated in Step 106, and the joint angle at which the gravity torque is 0 is identified.
  • the position of the center of gravity of the end effector 23, which is one of the inertia parameters, may be identified from the joint angle at which the gravity torque is 0, or the position of the center of gravity of the end effector 23 may be directly used as the joint angle at which the gravity torque is 0. It may be used as substitute information.
  • the calculated gravity torque waveform is compared with the gravity torque waveforms of the plurality of reference weights stored in the storage unit 35, and the weight of the reference weight that minimizes the difference between the two is determined. The weight of the effector 23 is identified.
  • step 109 the control parameter of the servo motor 31 is changed according to the identification results of the above steps 107 and 108, and this program is terminated.
  • the controller 33 executes the inertia parameter identification program of FIG. 6 before starting production, and starts production after changing the control parameter of the servo motor 31 according to the identification result of the inertia parameter.
  • the end effector 23 attached to the wrist 21 of the five-axis vertical articulated robot 11 is reciprocally swung in a predetermined section including a joint angle at which the gravitational torque becomes zero, whereby each joint The forward torque and the return torque at the angle are calculated, the gravitational torque compensated for the friction torque is calculated from the torque of the servo motor 31 at each joint angle based on the calculated values, and the end torque is calculated based on the gravitational torque at each joint angle. Since inertia parameters (parameters related to weight and center of gravity) of the effector 23 are identified, no matter what end effector 23 the user attaches to the wrist 21 of the 5-axis vertical articulated robot 11, it is easy on the user side.
  • Inertia parameters can be identified. Thereby, the control parameter of the servo motor 31 can be changed to an appropriate control parameter according to the identification result of the inertia parameter, and not only the turning operation of the end effector 23 but also various operations of the 5-axis vertical articulated robot 11 can be performed. The positioning performance can be improved.
  • the control device 32 of the 5-axis vertical articulated robot 11 is equipped with a function for identifying the inertia parameter of the end effector 23.
  • the location is different from that of the control device 32 of the 5-axis vertical articulated robot 11.
  • an inertia parameter identification system for identifying the inertia parameter of the end effector 23 is constructed, and the control parameter of the servo motor 31 is changed to an appropriate control parameter in accordance with the result of identification of the inertia parameter by the inertia parameter identification system.
  • the control parameter may be changed automatically by the control device 32 of the five-axis vertical articulated robot 11 according to the identification result of the inertia parameter, or the operator manually changes the control parameter. You may do it.
  • the present invention is not limited to the 5-axis vertical articulated robot 11 and may be applied to a vertical articulated robot having 4 axes or less or 6 axes or more, and the configuration of the vertical articulated robot is appropriately changed. Obviously, various modifications can be made without departing from the scope of the invention.

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

L'invention se rapporte à l'identification des paramètres inertiels qui doit être effectuée pour un effecteur terminal (23) monté sur une section de poignet (21) d'un robot articulé verticalement (11) de façon à être échangeable. L'invention concerne : une unité de commande (41) destinée à effectuer un mouvement de rotation de va-et-vient de l'effecteur terminal à l'intérieur d'une plage prescrite qui englobe l'angle d'articulation auquel le couple de gravitation est égal à 0 ; une unité de calcul d'angle d'articulation (42) destinée à mesurer et calculer les angles d'articulation pendant ledit mouvement de rotation de va-et-vient ; et une unité de calcul de couple (43) destinée à mesurer et calculer le couple d'un moteur à chaque angle d'articulation pendant le mouvement de rotation de va-et-vient. L'invention concerne également : une unité de calcul de couple de gravitation (44) destinée à calculer un couple de gravitation, dans lequel un couple de frottement a été compensé, à partir des couples de moteur à chaque angle d'articulation sur la base des couples de moteur calculés (couples sortants) à chaque angle d'articulation de la course sortante et des couples moteur (couples de retour) à chaque angle d'articulation de la course de retour ; et une unité d'identification de paramètre inertiel (45) destinée à identifier le paramètre inertiel sur la base du couple de gravitation à chaque angle d'articulation calculé par ladite unité de calcul de couple de gravitation.
PCT/JP2018/008868 2018-03-07 2018-03-07 Système d'identification de paramètre inertiel d'un robot articulé verticalement, procédé d'identification de paramètre inertiel, et dispositif et procédé de commande pour robot articulé verticalement WO2019171516A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2020504572A JP6862604B2 (ja) 2018-03-07 2018-03-07 垂直多関節ロボットの慣性パラメータ同定システム及び慣性パラメータ同定方法並びに垂直多関節ロボットの制御装置及び制御方法
PCT/JP2018/008868 WO2019171516A1 (fr) 2018-03-07 2018-03-07 Système d'identification de paramètre inertiel d'un robot articulé verticalement, procédé d'identification de paramètre inertiel, et dispositif et procédé de commande pour robot articulé verticalement

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PCT/JP2018/008868 WO2019171516A1 (fr) 2018-03-07 2018-03-07 Système d'identification de paramètre inertiel d'un robot articulé verticalement, procédé d'identification de paramètre inertiel, et dispositif et procédé de commande pour robot articulé verticalement

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CN113189865A (zh) * 2021-01-27 2021-07-30 上海电气智能康复医疗科技有限公司 基于动力学参数辨识的康复机器人控制方法、系统、设备及介质
WO2024105725A1 (fr) * 2022-11-14 2024-05-23 ファナック株式会社 Procédé de diagnostic de frein, dispositif de diagnostic de frein, programme de diagnostic de frein et dispositif de commande pour robot

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CN113189865A (zh) * 2021-01-27 2021-07-30 上海电气智能康复医疗科技有限公司 基于动力学参数辨识的康复机器人控制方法、系统、设备及介质
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CN112975971A (zh) * 2021-03-01 2021-06-18 南京航空航天大学 一种机器人惯性力补偿方法
CN112975971B (zh) * 2021-03-01 2022-03-11 南京航空航天大学 一种机器人惯性力补偿方法
WO2024105725A1 (fr) * 2022-11-14 2024-05-23 ファナック株式会社 Procédé de diagnostic de frein, dispositif de diagnostic de frein, programme de diagnostic de frein et dispositif de commande pour robot

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