Dynamic Parameters Identification And Collision Protection Of A 6-DOF Cooperative Robot

At present,the global industrial automation is overwhelming,the labor cost of workers is increasing,and the quality of products is becoming more and more demanding.Therefore,it is inevitable to develop industrial robots.Compared with the clunky and dangerous traditional industrial robots,collaborative robots are overcoming traditional challenges with their precise repeatability and coordination with people.In this thesis,the dynamic parameters of the robot are identified and the robot collision protection is realized based on torque control.The robot dynamics model is constructed by inertia parameters,centroid parameters,mass parameters and friction parameters.These parameters are easy to change in the actual operation of the robot.It is necessary to build a precise robot dynamics model and linearize the constructed model to realize robot dynamics parameter recognition.In this thesis,Niudunoulafa is used to establish the robot dynamics model,and linearized the robot dynamics model.The parameters that have less influence on the robot system are eliminated by the parameter reorganization,and the corresponding operations are also eliminated.The minimum parameter set of robot dynamics is established.Secondly,the optimal excitation trajectory for data acquisition is designed.Common robot trajectory data is used for recognition,and the dynamic parameters identified are accidental,which leads to the inaccuracy of the dynamic parameters identified.Therefore,it is necessary to design an optimal excitation trajectory for data acquisition.Finally,select the appropriate identification criteria.The minimum parameter set of robot dynamics has been established,and the problem of robot dynamics parameter recognition is transformed into the problem of solving linear equations.In the experiment,the recursive least square method is selected as the identification criterion,the linear equations of dynamics are solved,and the dynamics parameters of the robot are identified.In this thesis,the coordinate system is established by using the D-H parameter method for the six-degree-of-freedom collaborative robot,and the D-H parameter is provided for the robot dynamics equation.Then the robot dynamics model is established and linearized using Python software-related function modules.The minimum parameter set and the corresponding regression matrix of the robot are established.Motivation trajectories for data acquisition are designed with Matlab software,and robot dynamics parameters are identified by the recursive least squares method.It is of great significance for improving robot dynamic characteristics,and collision protection is realized based on dynamic model.