The traditional drag-teaching algorithm mainly compensates the inertia and gravity terms of the system by means of dynamic model compensation,but the performance of drag-teaching is poor due to the inaccuracy of the dynamic model.Based on the joint force sensor,this paper proposes that only the model obtained by gravity identification can achieve the effect of drag teaching control.For the gravity model i-dentification,the error cost function is designed based on LSM,and the error iterative expression is obtained according to the cost function,so that the model estimation parameters are further iteratively convergent to the true value,and the accurate identification of the collaborative robot gravity model is realized.At the same time,the drag controller is designed based on the gravity model to realize the smooth drag control.Fi-nally,through MATLAB-Simlink co-simulation and verification on the collaborative robot platform built in our laboratory,the results show that the proposed identification method has higher convergence accuracy,and the drag control system based on gravity model has higher stability and flexibility.
关键词
机器人/重力辨识/代价函数/误差迭代/拖动控制器
Key words
robots/gravity identification/cost function/error iteration/drag control
维普
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