Servo Dynamic Stiffness Identification of Robot Joints Using Excitation Trajectory
Aiming at the shortcomings of the traditional servo dynamic stiffness identification method in cumbersome operation and potential safety hazards in the step torque loading method,a method of identif-ying the servo stiffness of industrial robots by using excitation trajectory is proposed.This method takes the fifth-order Fourier series trajectory as the input of the excitation trajectory,and obtains the joint servo stiff-ness and dynamic model parameters of the industrial robot by using the least squares method to fit and iden-tify the collected data such as joint position and joint motor torque,and calculates the joint servo disturbance moment.The servo dynamic stiffness obtained by the proposed method and the traditional identification method is used to compensate for the disturbance moment,and the advantages and disadvantages of the two identification methods are judged according to the trajectory position tracking error after compensation.In the industrial robot platform,the disturbance torque compensation experiments of single joint motion and six joint motion respectively show that the accuracy of the servo dynamic stiffness obtained by the proposed ex-citation trajectory identification method is better than that obtained by the traditional identification method.
parameter identificationtorque compensationvibration suppressiondynamic model
NETL
NSTL
万方数据
维普
