Industrial Robot Dynamics Parameters Identification And Direct Teaching Research

Compared with the traditional teaching method in teaching box,direct teaching can meet the needs of production better in the industrial field.In order to realize more advanced application technologies in direct teaching,it is necessary to use the precise industrial robot dynamics model as the research basis.Robot dynamics parameters are the key factors that limit the accuracy of dynamic models.Therefore,the identification of dynamic parameters is of great research significance for the development of robot control technology.Firstly,for the 6-DOF industrial robot of the Siasun SR4 C model,the kinematics model of the robot is established by the D-H parameter method.The dynamic model of the robot is established based on the Newton-Euler equation method.Considering the need of dynamic parameter identification,the complete dynamic model is rewritten as a linear form of the coefficient observation matrix multiplied by the dynamic minimum inertia parameter vector.Secondly,the robot dynamics parameter identification method is studied and the dynamic parameter identification equation is established.Because the dynamic model of 6-DOF industrial robot is complex and has many parameters,it is difficult to use the complete dynamic model for the parameter identification process.Therefore,this paper designs a classification step-by-step identification method to simplify the identification process.In this paper,the fifth-order Fourier series is used as the excitation trajectory of the identification process,and the optimization problem of the excitation trajectory is studied based on the genetic algorithm.After optimization by genetic algorithm,the coefficient matrix of each identification step is reduced from the initial 100?500 condition number to 9.7?79.4.Then 42 kinetic parameters were obtained by step identification.Then,the control algorithm that implements direct teaching is analyzed.In this paper,based on Adams simulation software,the variation curve of inertia torque during robot motion is studied.It can be seen from the simulation results that the amplitude of the torque of inertia can reach 37%?75% of the total driving torque of the joint,and the average value accounts for 21.2%?52.9% of the total driving torque.According to the simulation results,this paper proposes an inertial term compensation Force-free control algorithm based on torque control.Finally,in order to verify the effectiveness of the proposed identification method and Force-free control algorithm,an experimental platform and a software control module are built.The experimental results show that the relative error rate of each identification is 1.64%?5.99%,which is better than the 10.4%?43.5% CAD model error rate.In order to verify the effectiveness of the Force-free control proposed in this paper,the Force-free control test for increasing the inertia term compensation is carried out by the end torque sensor to measure the drag force.Compared with the Force-free control which only compensates the heavy torque and the friction torque,The teaching direction of each direction is reduced by 20%?30%in xyz three directions.