CN111702807B - Robot friction identification method, device and system and storage medium - Google Patents
Robot friction identification method, device and system and storage medium Download PDFInfo
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- CN111702807B CN111702807B CN202010514746.XA CN202010514746A CN111702807B CN 111702807 B CN111702807 B CN 111702807B CN 202010514746 A CN202010514746 A CN 202010514746A CN 111702807 B CN111702807 B CN 111702807B
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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Abstract
The application discloses a robot friction identification method, device, system and storage medium, which are used for controlling all shafts to simultaneously execute heat engine operation for a first preset time so as to enable all shafts to reach a thermal equilibrium state; and identifying each shaft in sequence to obtain identification data, controlling the rest shafts to simultaneously execute the heat engine operation with a second preset time length after each shaft is identified so as to reach a heat balance state, and identifying the next shaft in the rest shafts, wherein the identification process of each shaft does not exceed the preset identification time length. In this way, this application can carry out the heat engine operation with all axles simultaneously, and after every discerning an axle, remaining axle carries out the heat engine of a short time and can reach the heat balance state again to shorten the required time of heat engine, promoted the efficiency that the operation was discerned in whole friction, and the time of discerning in every axle friction is not more than predetermineeing and is discerned for a long time, has further promoted the efficiency that the friction was discerned.
Description
Technical Field
The present disclosure relates to the field of robot technologies, and in particular, to a method, an apparatus, a system, and a storage medium for identifying robot friction.
Background
When the industrial robot adopts a current loop scheme to realize relevant dynamics functions, the friction of each shaft of the robot needs to be firstly identified, and the identification mainly establishes the relationship between the speed of the vertical shaft and the friction torque of the shaft. Because different temperatures also can influence friction torque, so before carrying out the friction and discerning, need carry out abundant heat engine to the robot usually, when the robot joint reaches thermal balance, carry out the friction again and discern, will obtain more accurate friction model.
The traditional robot identification method adopts the steps that friction identification operation is carried out after one shaft of the robot is subjected to heat engine, and friction identification operation is carried out after the next shaft is subjected to heat engine, so that the whole friction identification process needs to consume a large amount of time for heat engine, and the efficiency is low.
Disclosure of Invention
The application provides a robot friction identification method, device and system and a storage medium, which are used for solving the problems of long time consumption and low efficiency in the existing robot friction identification process.
In order to solve the technical problem, the application adopts a technical scheme that: provided is a robot friction identification method, including: controlling all the shafts to simultaneously execute heat engine operation for a first preset time so as to enable all the shafts to reach a heat balance state; acquiring each friction identification speed of the ith shaft, and calculating an identification stroke corresponding to each friction identification speed, wherein the identification stroke is equal to the product of the friction identification speed and a preset identification time length; if the identification stroke is larger than the maximum stroke of the ith shaft, enabling the identification stroke to be equal to the maximum stroke of the ith shaft; performing friction identification on the ith shaft according to each friction identification speed and the identification stroke corresponding to each friction identification speed; and after the friction identification of the ith shaft is completed, simultaneously executing the heat engine operation for a second preset time length on the shaft which is not subjected to the friction identification so as to enable the shaft which is not subjected to the friction identification to reach the thermal balance, wherein i is an integer, i is more than or equal to 1 and less than or equal to n, and n is the number of the shafts.
As a further improvement of the present application, identifying the friction of the ith shaft according to each friction identification speed and the identification stroke corresponding to each friction identification speed, includes: controlling the motion of the ith shaft according to each friction identification speed and the identification stroke corresponding to each friction identification speed; and acquiring the feedback torque data of the ith shaft at each friction identification speed to obtain the friction identification data of the ith shaft.
As a further improvement of the present application, after performing friction identification on each shaft, the method further includes: and constructing a friction torque model based on friction identification data obtained by performing friction identification on each shaft.
As a further improvement of the present application, after the friction torque model is constructed based on the friction identification data obtained by performing friction identification on each shaft, the method further includes: and when a request for controlling the robot to work is received, correcting the driving torque generated by the request by using a friction torque model so as to enable the robot to rotate the joint to move according to the corrected driving torque.
As a further improvement of the present application, after calculating the identification stroke corresponding to each friction identification speed, the method further includes: if the identification stroke is smaller than or equal to the maximum stroke of the ith shaft, taking the position of the ith shaft during restoration as an origin, and taking-s/2 to s/2 as the stroke track of the ith shaft, wherein s is the identification stroke.
As a further improvement of the present application, the first preset duration is longer than the second preset duration.
As a further improvement of the application, the preset identification time is less than the maximum identification time, and the maximum identification time is the time required by the ith shaft to travel the maximum travel at the minimum friction identification speed.
In order to solve the above technical problem, another technical solution adopted by the present application is: provided is a robot friction recognition device including: the first heat engine module is used for controlling all the shafts to simultaneously execute heat engine operation for a first preset time so as to enable all the shafts to reach a heat balance state; the calculation module is coupled with the first heat engine module and used for acquiring each friction identification speed of the ith shaft and calculating an identification stroke corresponding to each friction identification speed, wherein the identification stroke is equal to the product of the friction identification speed and a preset identification time length; the stroke confirming module is coupled with the calculating module and used for enabling the identification stroke to be equal to the maximum stroke of the ith shaft when the identification stroke is larger than the maximum stroke of the ith shaft; the identification module is coupled with the stroke confirmation module and used for performing friction identification on the ith shaft according to each friction identification speed and the identification stroke corresponding to each friction identification speed; and the second heat engine module is coupled with the identification module and used for performing heat engine operation for a second preset time length on the shaft which is not subjected to friction identification after the friction identification of the ith shaft is completed so as to enable the shaft which is not subjected to friction identification to reach thermal balance, wherein i is an integer, i is more than or equal to 1 and less than or equal to n, and n is the number of the shafts.
In order to solve the above technical problem, the present application adopts another technical solution that: the robot friction identification system comprises a robot and a control module, wherein the control module comprises a processor and a memory coupled with the processor, and the memory stores program instructions for implementing the robot friction identification method; the processor is used for executing the program instructions stored in the memory to acquire the time consumed by shortening the robot friction identification.
In order to solve the above technical problem, the present application adopts another technical solution that: a storage medium is provided, which stores a program file capable of implementing the robot friction recognition method.
The beneficial effect of this application is: this application is through the heat engine operation of carrying out first predetermined duration simultaneously with all axles of robot for all axles all reach the thermal balance state, select an axle from all axles again and distinguish the operation, then carry out the heat engine operation of second predetermined duration once more with the surplus axle, and the temperature decline because of the surplus axle is less, so the second predetermined duration is less than first predetermined duration, select an axle from the surplus axle again and distinguish the operation, analogize in proper order, until all axles all have been discerned, it has reduced the time that the heat engine operation needs to be consumed among the identification process greatly, thereby the efficiency of friction discernment has been promoted. And, through setting up to predetermine and discern long for the friction of each axle is discerned the friction under the speed and is discerned the time and is not more than predetermineeing and discern long, has reduced the friction on the whole and has discerned the required time, has promoted the efficiency that the friction was discerned.
Drawings
Fig. 1 is a schematic flowchart of a robot friction identification method according to a first embodiment of the present application;
fig. 2 is a schematic flowchart of a robot friction identification method according to a second embodiment of the present application;
fig. 3 is a flowchart illustrating a friction identification method for a robot according to a third embodiment of the present application;
fig. 4 is a schematic structural diagram of a robot friction identification device according to an embodiment of the present application;
FIG. 5 is a schematic structural diagram of a robot friction identification system according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a storage medium according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first", "second" and "third" in this application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any indication of the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of the feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise. All directional indications (such as up, down, left, right, front, and rear … …) in the embodiments of the present application are only used to explain the relative positional relationship between the components, the movement, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indication is changed accordingly. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Fig. 1 is a flowchart illustrating a robot friction identification method according to a first embodiment of the present application. It should be noted that the method of the present application is not limited to the flow sequence shown in fig. 1 if the results are substantially the same. As shown in fig. 1, the method comprises the steps of:
step S101: and controlling all the shafts to simultaneously perform the heat engine operation for the first preset time period so that all the shafts reach a thermal equilibrium state.
It should be noted that the first preset time period is preset, and the first preset time period is greater than or equal to the heat engine time required for all the shafts to reach the thermal equilibrium state, for example, if the time required for all the shaft heat engines of the robot to reach the thermal equilibrium state is 1 hour, the first preset time period is greater than or equal to 1 hour.
In step S101, when friction identification needs to be performed on the robot, first, all axes of the robot are controlled to simultaneously start a heat engine operation, where the heat engine time is a first preset time period.
Step S102: and acquiring each friction identification speed of the ith shaft, and calculating an identification stroke corresponding to each friction identification speed, wherein the identification stroke is equal to the product of the friction identification speed and a preset identification time length.
In the present embodiment, i is an integer, i is 1. ltoreq. n, and n is the number of axes. In this embodiment, each shaft needs to be friction-identified at a plurality of different friction identification speeds, and each friction identification speed of each shaft is preset. The preset identification time is preset, the preset identification time is less than the maximum identification time, and the maximum identification time is the time required by the ith shaft to travel at the minimum friction identification speed for the maximum travel.
In step S102, when the friction identification speeds of the ith shaft are obtained, an identification stroke corresponding to each friction identification speed of the ith shaft is calculated by combining a preset identification duration.
Step S103: and if the identification stroke is greater than the maximum stroke of the ith shaft, enabling the identification stroke to be equal to the maximum stroke of the ith shaft.
The maximum stroke of the ith shaft is a stroke when the ith shaft rotates from the maximum negative limit to the maximum positive limit.
In step S103, when the identification stroke calculated according to the friction identification speed and the preset identification time length is greater than the maximum stroke of the ith shaft, the identification stroke is made equal to the maximum stroke of the ith shaft, and when the ith shaft is controlled to move at the friction identification speed, the ith shaft moves from the maximum negative limit to the maximum positive limit, and the movement time of the ith shaft is less than the preset identification time length.
Step S104: and performing friction identification on the ith shaft according to each friction identification speed and the identification stroke corresponding to each friction identification speed.
In step S104, the motion of the ith shaft is controlled according to each friction identification speed and the identification stroke corresponding to each friction identification speed, and friction identification data of the ith shaft at different friction identification speeds is collected.
Further, step S104 specifically includes: controlling the motion of the ith shaft according to each friction identification speed and the identification stroke corresponding to each friction identification speed; and acquiring the feedback torque data of the ith shaft at each friction identification speed to obtain the friction identification data of the ith shaft.
The friction identification data includes displacement, speed, acceleration, forward rotation speed and corresponding driving moment of the ith shaft, and reverse rotation speed and corresponding driving moment.
Step S105: and after the friction identification of the ith shaft is completed, performing heat engine operation for a second preset time period on the shaft which is not subjected to friction identification simultaneously so as to enable the shaft which is not subjected to friction identification to reach thermal balance.
It should be noted that the second preset time period is preset, and the second preset time period is greater than or equal to the heat engine time required for the shaft without friction identification to reach the thermal equilibrium state. The shaft which is not subjected to friction identification is cooled in the process of identifying the previous shaft, so that before the remaining shafts are identified, the shaft which is not subjected to friction identification needs to be subjected to heat engine operation again to achieve a heat balance state, generally, the time required for identifying the shaft is far shorter than a first preset time, and the shaft which is not subjected to friction identification is cooled for a shorter time, so that the heat engine operation is performed on the remaining shaft for a second preset time, wherein the second preset time is shorter than the first preset time.
In step S105, after the friction identification of the ith shaft is completed, the heat engine operation is performed for a second preset time period on the shafts which are not subjected to the friction identification at the same time, so that the shafts which are not subjected to the friction identification reach a thermal balance, and one shaft is selected from the shafts which are not subjected to the friction identification again to be subjected to the friction identification again, and so on until all the shafts are subjected to the friction identification.
Taking the following example as an example, assuming that the robot has N axes, the first preset time is 1 hour, and the second preset time is 5 minutes, when performing friction identification, firstly controlling all the axes to perform heat engine operation for 1 hour, then identifying the first axis, and collecting identification data, after identifying the first axis, performing heat engine operation for 5 minutes on the remaining (N-1) axes to enable the axes not subjected to friction identification to reach a heat balance state, then selecting the second axis from the remaining (N-1) axes to perform identification and collecting identification data, performing heat engine operation for 5 minutes on the remaining (N-2) axes, and so on until all the axes are identified.
According to the robot friction identification method, all shafts of the robot are subjected to heat engine operation with the first preset time length at the same time, all the shafts reach a thermal balance state, one shaft is selected from all the shafts to be subjected to identification operation, then the remaining shafts are subjected to heat engine operation with the second preset time length again, the temperature of the remaining shafts is reduced less, the second preset time length is smaller than the first preset time length, one shaft is selected from the remaining shafts to be subjected to identification operation, and the like in sequence until all the shafts are identified, time consumed by heat engine operation in the identification process is greatly shortened, and therefore friction identification efficiency is improved. And, through setting up to predetermine and discern long for the friction of each axle is discerned the friction under the speed and is discerned the time and is not more than predetermineeing and discern long, has reduced the friction on the whole and has discerned the required time, has promoted the efficiency that the friction was discerned.
Fig. 2 is a flowchart illustrating a robot friction identification method according to a second embodiment of the present application. It should be noted that the method of the present application is not limited to the flow sequence shown in fig. 2 if the results are substantially the same. As shown in fig. 2, the method comprises the steps of:
step S201: and controlling all the shafts to simultaneously perform the heat engine operation for the first preset time period so that all the shafts reach a thermal equilibrium state.
In this embodiment, step S201 in fig. 2 is similar to step S101 in fig. 1, and for brevity, is not described herein again.
Step S202: and acquiring each friction identification speed of the ith shaft, and calculating an identification stroke corresponding to each friction identification speed, wherein the identification stroke is equal to the product of the friction identification speed and a preset identification time length.
In this embodiment, step S202 in fig. 2 is similar to step S102 in fig. 1, and for brevity, is not described herein again.
Step S203: and if the identification stroke is greater than the maximum stroke of the ith shaft, enabling the identification stroke to be equal to the maximum stroke of the ith shaft.
In this embodiment, step S203 in fig. 2 is similar to step S103 in fig. 1, and for brevity, is not described herein again.
Step S204: and performing friction identification on the ith shaft according to each friction identification speed and the identification stroke corresponding to each friction identification speed.
In this embodiment, step S304 in fig. 3 is similar to step S104 in fig. 1, and for brevity, is not described herein again.
Step S205: and after the friction identification of the ith shaft is completed, performing heat engine operation for a second preset time period on the shaft which is not subjected to friction identification simultaneously so as to enable the shaft which is not subjected to friction identification to reach thermal balance.
In this embodiment, step S205 in fig. 2 is similar to step S105 in fig. 1, and for brevity, is not described herein again.
Step S206: and constructing a friction torque model based on friction identification data obtained by performing friction identification on each shaft.
Step S207: and when a request for controlling the robot to work is received, correcting the driving torque generated by the request by using a friction torque model so as to enable the robot to rotate the joint to move according to the corrected driving torque.
In steps S206 to S207, when a request for controlling the operation of the robot is received, parameters such as an end position, an acceleration, and a speed at which the robot will move are determined according to the request, and the controller of the robot calculates driving torques corresponding to the respective axes based on the dynamic model and according to the friction torque model constructed as described above, where the driving torques at this time are corrected by the friction torque model.
According to the friction identification method for the robot, based on the first embodiment, a friction torque model of the robot is constructed through collected feedback torque data of each shaft, and when a request for controlling the robot to work is received, driving torques of each shaft are corrected according to the friction torque model, so that the influence of friction on the movement of each shaft is reduced, and the robot can accurately complete corresponding actions.
Fig. 3 is a flowchart illustrating a robot friction identification method according to a third embodiment of the present application. It should be noted that the method of the present application is not limited to the flow sequence shown in fig. 3 if the results are substantially the same. As shown in fig. 3, the method comprises the steps of:
step S301: and controlling all the shafts to simultaneously perform the heat engine operation for the first preset time period so that all the shafts reach a thermal equilibrium state.
In this embodiment, step S301 in fig. 3 is similar to step S101 in fig. 1, and for brevity, is not described herein again.
Step S302: and acquiring each friction identification speed of the ith shaft, and calculating an identification stroke corresponding to each friction identification speed, wherein the identification stroke is equal to the product of the friction identification speed and a preset identification time length.
In this embodiment, step S302 in fig. 3 is similar to step S102 in fig. 1, and for brevity, is not described herein again.
Step S303: and if the identification stroke is greater than the maximum stroke of the ith shaft, enabling the identification stroke to be equal to the maximum stroke of the ith shaft.
In this embodiment, step S303 in fig. 3 is similar to step S103 in fig. 1, and for brevity, is not described herein again.
Step S304: and performing friction identification on the ith shaft according to each friction identification speed and the identification stroke corresponding to each friction identification speed.
In this embodiment, step S304 in fig. 3 is similar to step S104 in fig. 1, and for brevity, is not described herein again.
Step S305: and after the friction identification of the ith shaft is completed, performing heat engine operation for a second preset time period on the shaft which is not subjected to friction identification simultaneously so as to enable the shaft which is not subjected to friction identification to reach thermal balance.
In this embodiment, step S305 in fig. 3 is similar to step S105 in fig. 1, and for brevity, is not described herein again.
Step S306: if the identification stroke is smaller than or equal to the maximum stroke of the ith shaft, taking the position of the ith shaft during restoration as an origin, and taking-s/2 to s/2 as the stroke track of the ith shaft, wherein s is the identification stroke.
In step S306, generally, the positions of the axes are the origin of each axis when the robot returns to the normal posture, and the axes can move to the negative limit and the positive limit based on the origin. In this embodiment, in order to ensure the effect of friction identification, when the identification stroke is less than or equal to the maximum stroke of the ith axis, the position of the ith axis when being restored is taken as the origin, and s/2 to s/2 are taken as the stroke track of the ith axis, where s is the identification stroke.
In the method for identifying robot friction in the third embodiment of the present application, on the basis of the first embodiment, when the identification stroke is smaller than or equal to the maximum stroke of the ith axis, the position of the ith axis during restoration is taken as the origin, and s/2 to s/2 are taken as the stroke track of the ith axis, where s is the identification stroke. Therefore, the identification stroke of the shaft is carried out by taking the original point of the shaft as the center, so that the whole friction identification process is more consistent with the friction condition of each shaft when the robot moves under the normal condition, and the finally obtained friction identification data is ensured to be closer to the condition in actual use.
Fig. 4 is a schematic structural diagram of a robot friction identification device according to the present application. As shown in fig. 5, the robot friction identification device 50 includes a first heat engine module 51, a calculation module 52, a stroke confirmation module 53, an identification module 54, and a second heat engine module 55.
A first heat engine module 51 for controlling all the shafts to simultaneously perform a heat engine operation for a first preset duration to bring all the shafts to a thermal equilibrium state;
a calculating module 52, coupled to the first heat engine module 51, configured to obtain each friction identification speed of the ith shaft, and calculate an identification stroke corresponding to each friction identification speed, where the identification stroke is equal to a product of the friction identification speed and a preset identification duration;
a stroke confirmation module 53, coupled to the calculation module 52, for making the identification stroke equal to the maximum stroke of the ith shaft when the identification stroke is greater than the maximum stroke of the ith shaft;
an identification module 54, coupled to the stroke confirmation module 53, configured to perform friction identification on the ith shaft according to each friction identification speed and the identification stroke corresponding to each friction identification speed;
the second heat engine module 55 is coupled to the identification module 54, and configured to perform a second preset time period of heat engine operation on the shaft that is not subjected to friction identification at the same time after the friction identification of the ith shaft is completed, so that the shaft that is not subjected to friction identification reaches thermal equilibrium;
wherein i is an integer, i is more than or equal to 1 and less than or equal to n, and n is the number of the shafts.
Optionally, the identifying module 54 performs the friction identifying operation on the ith shaft according to each friction identifying speed and the identifying stroke corresponding to each friction identifying speed, and may also control the movement of the ith shaft according to each friction identifying speed and the identifying stroke corresponding to each friction identifying speed; and acquiring the feedback torque data of the ith shaft at each friction identification speed to obtain the friction identification data of the ith shaft.
Optionally, the identifying module 54 further includes, after performing the friction identification on each shaft: constructing a friction torque model based on friction identification data obtained by performing friction identification on each shaft; and when a request for controlling the robot to work is received, correcting the driving torque generated by the request by using a friction torque model so as to enable the robot to rotate the joint to move according to the corrected driving torque.
Optionally, the stroke confirming module 53 is further configured to, when the identification stroke is smaller than or equal to the maximum stroke of the ith axis, take-s/2 to s/2 as the stroke track of the ith axis with the position of the ith axis when the ith axis is restored as the origin, and s is the identification stroke.
Optionally, the first preset duration is longer than the second preset duration.
Optionally, the preset identification time is shorter than the maximum identification time, and the maximum identification time is the time required for the ith shaft to travel the maximum stroke at the minimum friction identification speed.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a robot friction identification system according to an embodiment of the present disclosure. As shown in fig. 5, the robot friction identification system 60 includes a robot 61 and a control module 62, and the control module 62 includes a processor 621 and a memory 622 coupled to the processor 621. The memory 622 stores program instructions for implementing the robot friction recognition method according to any of the above embodiments.
The processor 621 is configured to execute the program instructions stored in the memory 622 to obtain the time consumed for shortening the robot friction recognition.
The processor 621 may also be referred to as a Central Processing Unit (CPU), among others. The processor 621 may be an integrated circuit chip having signal processing capabilities. The processor 621 may also be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a storage medium according to an embodiment of the present application. The storage medium of the embodiment of the present application stores a program file 71 capable of implementing all the methods described above, wherein the program file 61 may be stored in the storage medium in the form of a software product, and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a mobile hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, or terminal devices, such as a computer, a server, a mobile phone, and a tablet.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit. The above embodiments are merely examples and are not intended to limit the scope of the present disclosure, and all modifications, equivalents, and flow charts using the contents of the specification and drawings of the present disclosure or those directly or indirectly applied to other related technical fields are intended to be included in the scope of the present disclosure.
Claims (10)
1. A robot friction identification method is characterized by comprising the following steps:
controlling all the shafts to simultaneously execute heat engine operation for a first preset time so as to enable all the shafts to reach a heat balance state;
acquiring each friction identification speed of the ith shaft, and calculating an identification stroke corresponding to each friction identification speed, wherein the identification stroke is equal to the product of the friction identification speed and a preset identification time length;
if the identification stroke is larger than the maximum stroke of the ith shaft, enabling the identification stroke to be equal to the maximum stroke of the ith shaft;
performing friction identification on the ith shaft according to each friction identification speed and the identification stroke corresponding to each friction identification speed;
after the friction identification is carried out on the ith shaft, simultaneously executing heat engine operation for a second preset time length on the shaft which is not subjected to the friction identification so as to enable the shaft which is not subjected to the friction identification to reach thermal balance;
selecting a next shaft from the shafts which are not subjected to friction to perform friction identification which is the same as the friction identification step of the ith shaft until all the shafts are subjected to friction identification;
wherein i is an integer, i is more than or equal to 1 and less than or equal to n, and n is the number of the shafts.
2. The robot friction identification method according to claim 1, wherein the friction identification of the ith axis according to the each friction identification speed and the identification stroke corresponding to the each friction identification speed comprises:
controlling the motion of the ith shaft according to each friction identification speed and the identification stroke corresponding to each friction identification speed;
and acquiring the feedback torque data of the ith shaft at each friction identification speed to obtain the friction identification data of the ith shaft.
3. The robot friction recognition method according to claim 1, further comprising, after performing friction recognition on each axis:
and constructing a friction torque model based on friction identification data obtained by performing friction identification on each shaft.
4. The robot friction identification method according to claim 3, wherein after the constructing the friction torque model based on the friction identification data obtained by performing the friction identification on each axis, the method further comprises:
and when a request for controlling the robot to work is received, correcting the driving torque generated by the request by using the friction torque model so as to enable the robot to rotate the joint to move according to the corrected driving torque.
5. The robot friction identification method according to claim 1, wherein after calculating the identification stroke corresponding to each friction identification speed, the method further comprises:
if the identification stroke is smaller than or equal to the maximum stroke of the ith shaft, taking the position of the ith shaft during restoration as an origin, and taking-s/2 to s/2 as the stroke track of the ith shaft, wherein s is the identification stroke.
6. The robot friction identification method according to claim 1, wherein the first preset duration is longer than a second preset duration.
7. The robot friction identification method according to claim 1, wherein the preset identification time period is less than a maximum identification time period, and the maximum identification time period is a time period required for the i-th shaft to travel the maximum stroke at a minimum friction identification speed.
8. A robot friction identification device, comprising:
the first heat engine module is used for controlling all the shafts to simultaneously execute heat engine operation for a first preset time so as to enable all the shafts to reach a heat balance state;
the calculation module is coupled with the first heat engine module and used for acquiring each friction identification speed of the ith shaft and calculating an identification stroke corresponding to each friction identification speed, wherein the identification stroke is equal to the product of the friction identification speed and a preset identification time length;
a stroke confirmation module, coupled to the calculation module, for making the identification stroke equal to the maximum stroke of the ith shaft when the identification stroke is greater than the maximum stroke of the ith shaft;
the identification module is coupled with the stroke confirmation module and used for performing friction identification on the ith shaft according to each friction identification speed and the identification stroke corresponding to each friction identification speed;
the second heat engine module is coupled with the identification module and used for executing heat engine operation with a second preset time length on the shafts which are not subjected to friction identification after the friction identification of the ith shaft is completed so as to enable the shafts which are not subjected to friction identification to reach heat balance, and selecting the next shaft from the shafts which are not subjected to friction identification to perform friction identification which is the same as the friction identification of the ith shaft until all the shafts are subjected to friction identification;
wherein i is an integer, i is more than or equal to 1 and less than or equal to n, and n is the number of the shafts.
9. A robot friction identification system comprising a robot and a control module, the control module comprising a processor, a memory coupled to the processor, wherein,
the memory stores program instructions for implementing a robot friction recognition method as claimed in any one of claims 1-7;
the processor is configured to execute the program instructions stored in the memory to obtain time consumed to shorten robot friction recognition.
10. A storage medium storing a program file executable by a processor to implement the robot friction recognition method according to any one of claims 1 to 7.
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