Friction-considered six-degree-of-freedom industrial robot kinetic parameter identification method

Friction-considered six-degree-of-freedom industrial robot kinetic parameter identification method

The invention discloses a friction-considered six-degree-of-freedom industrial robot kinetic parameter identification method, and belongs to the field of robot dynamics. The method mainly comprises the following steps: constructing a kinetic equation of the six-degree-of-freedom industrial robot con...

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Hauptverfasser: GUO YONGHAO, BIAN LEPENG, NIU WENTIE, SHAO CHANGHONG
Format: Patent
Sprache:chi ; eng
Schlagworte:
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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creator GUO YONGHAO
BIAN LEPENG
NIU WENTIE
SHAO CHANGHONG
description The invention discloses a friction-considered six-degree-of-freedom industrial robot kinetic parameter identification method, and belongs to the field of robot dynamics. The method mainly comprises the following steps: constructing a kinetic equation of the six-degree-of-freedom industrial robot considering friction based on a Lagrangian method; carrying out linearization and parameter recombination on the six-degree-of-freedom industrial robotics equation; the method comprises the following steps: designing and optimizing an excitation track of a Freudenstein 1-3-5 six-degree-of-freedom industrial robot based on Fourier series expansion; position information and driving current of each joint of the six-degree-of-freedom industrial robot are collected and subjected to smooth filtering, and the speed, the acceleration and the sampling torque of each joint of the six-degree-of-freedom industrial robot are calculated; and solving the kinetic parameters by using an improved Harris eagle optimization algorithm. Ac
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The method mainly comprises the following steps: constructing a kinetic equation of the six-degree-of-freedom industrial robot considering friction based on a Lagrangian method; carrying out linearization and parameter recombination on the six-degree-of-freedom industrial robotics equation; the method comprises the following steps: designing and optimizing an excitation track of a Freudenstein 1-3-5 six-degree-of-freedom industrial robot based on Fourier series expansion; position information and driving current of each joint of the six-degree-of-freedom industrial robot are collected and subjected to smooth filtering, and the speed, the acceleration and the sampling torque of each joint of the six-degree-of-freedom industrial robot are calculated; and solving the kinetic parameters by using an improved Harris eagle optimization algorithm. 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subjects CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
title Friction-considered six-degree-of-freedom industrial robot kinetic parameter identification method
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