CN112528434A - Information identification method and device, electronic equipment and storage medium - Google Patents
Information identification method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the invention discloses an information identification method, an information identification device, electronic equipment and a storage medium, and relates to the field of information processing. The information identification method comprises the following steps: obtaining a test sequence of the robot joint, wherein the test sequence comprises ideal driving torque parameters, motor speed and acceleration; acquiring an actual transmission torque parameter of the robot joint according to the ideal driving torque parameter, the acceleration and a preset rotation parameter; and constructing a friction damping model according to the actual transmission torque parameter and the motor speed, and acquiring friction damping information of the robot joint according to the friction damping model. In the process of applying the robot joint test, the friction damping information can be more accurately acquired by modeling and identifying the friction damping of the robot joint, and the problem that the robot sacrifices the acceleration performance of the robot for ensuring the safety of the speed reducer due to the fact that errors exist in the friction damping identification in the prior art is solved.
Description
Technical Field
The embodiment of the invention relates to the field of information processing, in particular to an information identification method, an information identification device, electronic equipment and a storage medium.
Background
Along with the rapid development of artificial intelligence, the application of an industrial robot is gradually quickened, the performance requirements on the joints of the industrial robot are increased, the friction damping of the joints of the robot mainly comes from a speed reducer, the efficiency of the speed reducer is mainly influenced by temperature, speed and load, after the control algorithm of the industrial robot is added into dynamics, because the joint efficiency of the robot is influenced by various factors such as load size, temperature and speed, the error caused by inaccurate introduction of a friction force model leads to speed planning, and in order to guarantee the safety of the speed reducer, the safety margin of the speed reducer is very large under most conditions.
However, under the condition that the safety margin of the speed reducer is large, the acceleration performance of the industrial robot is greatly reduced, the industrial robot cannot exert the optimal performance, and the joint beat performance of the whole robot is low; meanwhile, the friction force model is inaccurate, large model error interference is also introduced, and the robot shakes greatly due to excessive disturbance.
Disclosure of Invention
An object of embodiments of the present invention is to provide an information identification method and apparatus, an electronic device, and a storage medium, which can more accurately obtain friction damping information of a robot joint, so that the robot can more fully exert the performance of an accelerator and a motor, and improve the beat performance of the robot joint.
In order to solve the above technical problem, an embodiment of the present invention provides an information recognition method, which is applied to a robot joint testing process, and includes: obtaining a test sequence of the robot joint, wherein the test sequence comprises ideal driving torque parameters, motor speed and acceleration; acquiring an actual transmission torque parameter of the robot joint according to the ideal driving torque parameter, the acceleration and a preset rotation parameter; and constructing a friction damping model according to the actual transmission torque parameter and the motor speed, and acquiring friction damping information of the robot joint according to the friction damping model.
An embodiment of the present invention further provides an information recognition apparatus, including:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring at least two groups of test parameter sequences of the robot joint, and the test parameter sequences comprise ideal driving torque parameters, motor speed and acceleration;
the second acquisition module is used for acquiring an actual transmission torque parameter of the robot joint according to the ideal driving torque parameter, the acceleration and a preset rotation parameter;
and the construction module is used for constructing a friction damping model according to the actual transmission torque parameter and the motor speed and acquiring friction damping information of the robot joint according to the friction damping model.
An embodiment of the present invention also provides an electronic device, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the information identification method described above.
An embodiment of the present invention further provides a computer-readable storage medium storing a computer program, wherein the computer program is configured to implement the information identification method described above when executed by a processor.
Compared with the prior art, the method and the device have the advantages that in the robot joint testing process, the testing sequence of the robot joint is obtained, wherein the testing sequence comprises ideal driving torque parameters, motor speed and acceleration; acquiring an actual transmission torque parameter of the robot joint according to the ideal driving torque parameter, the acceleration and a preset rotation parameter; and constructing a friction damping model according to the actual transmission torque parameter and the machine speed, and acquiring friction damping information of the robot joint according to the friction damping model. The friction damping of the robot joint is modeled and identified to more accurately acquire the friction damping information of the robot joint, so that the robot can more fully exert the performance of an accelerator and a motor, the beat performance of the robot is improved, and the problem that the robot is accelerated by the robot due to the fact that errors exist in friction damping identification in the prior art and the safety of a speed reducer is guaranteed is solved.
In addition, the information recognition method according to an embodiment of the present invention further includes, before the acquiring the test sequence of the robot joint: and constructing a dynamic model of the robot, and acquiring the ideal driving torque parameters of the robot joint according to the dynamic model. The technical scheme provided by the invention obtains the ideal driving torque parameter of the robot joint according to the dynamic model, so that the invention obtains more accurate ideal driving torque parameter, improves the response speed of the robot and reduces the shake of the robot.
In addition, in the information identification method provided by the embodiment of the present invention, before the obtaining of the test parameter sequence of the robot joint, a heat engine operation is performed on the robot. According to the technical scheme provided by the invention, the robot joint can be subjected to heat engine operation before being tested, so that the robot joint can better adapt to test work, the smooth proceeding of subsequent test work is ensured, a finally constructed friction damping model is more accurate, and the accuracy of the acquired friction damping information is improved.
In addition, the information recognition method according to an embodiment of the present invention further includes, after acquiring the test sequence of the robot joint: and carrying out data analysis on the test sequence to obtain an effective test sequence of the robot joint. The technical scheme provided by the invention can be used for screening the data of the acquired test sequence and removing some invalid data, so that the invention can avoid the error of the constructed friction damping model caused by the existence of the invalid data and improve the accuracy of the acquired friction damping information.
In addition, an information recognition method according to an embodiment of the present invention, in which the obtaining of an actual transmission torque parameter of the robot joint from the ideal driving torque parameter, the acceleration, and a preset rotation parameter includes: acquiring a motor torque parameter of the robot joint according to the acceleration and the preset rotation parameter; and acquiring the actual transmission torque parameter according to the ideal driving torque parameter and the motor torque parameter. According to the technical scheme provided by the invention, the corresponding actual transmission torque parameters can be obtained according to the type of the robot, so that the friction damping model constructed by the method is more accurate, and the obtained friction damping information is more accurate.
In addition, an information recognition method according to an embodiment of the present invention further includes, after acquiring an actual transmission torque parameter of the robot joint from the ideal driving torque parameter, the acceleration, and a preset rotation parameter: acquiring motor current of the robot joint; acquiring an actual output torque parameter of the robot joint according to the motor current and a preset torque parameter; and acquiring the measured friction damping of the robot joint according to the actual output torque parameter and the ideal driving torque parameter. The technical scheme provided by the invention can acquire the actually measured friction damping information, and the information is used for verifying the friction damping information acquired according to the friction damping model so as to timely perform adaptive adjustment on the friction damping model, ensure the accuracy of the friction damping information acquired by the application and have stronger applicability.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
Fig. 1 is a flowchart of an information identification method provided in a first embodiment of the present invention;
FIG. 2 is a graphical illustration of the variation of friction damping information obtained by the present invention with actual transmission torque;
FIG. 3 is a schematic diagram of the variation curve of the friction damping information obtained by the present invention with the motor speed;
fig. 4 is a flowchart of an information recognition method according to a second embodiment of the present invention;
fig. 5 is a flowchart of an information recognition method according to a third embodiment of the present invention;
fig. 6 is a flowchart of an information recognition method according to a fourth embodiment of the present invention;
fig. 7 is a flowchart of an information recognition method according to a fifth embodiment of the present invention;
fig. 8 is a flowchart of an information recognition method according to a sixth embodiment of the present invention;
fig. 9 is a schematic structural view of an information recognition apparatus according to a seventh embodiment of the present invention;
fig. 10 is a schematic structural diagram of an electronic device according to an eighth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments. The following embodiments are divided for convenience of description, and should not constitute any limitation to the specific implementation manner of the present invention, and the embodiments may be mutually incorporated and referred to without contradiction.
A first embodiment of the present invention relates to an information recognition method, which is applied to a robot joint test process, and specifically includes, as shown in fig. 1:
Specifically, before testing the joints of the robot, the working environment of the robot needs to be measured, and the robot needs to be maintainedThe temperature of the working environment of the human is basically constant, the terminal load information of the robot needs to be set, a test program of the friction damping is established under a joint coordinate system (for example, the terminal load information of the robot is set to be 0 (namely the terminal does not have a load), the test program of the friction damping is established under the joint coordinate system, the test program is set to be J1 joint to move from-90 degrees to +90 degrees and then return to-90 degrees, 5 cycles are repeated back and forth), the thermal engine operation is also needed to be carried out on the robot, the thermal engine operation is specifically to operate the test program at the test part of the robot, when the robot carries out heat engine, the working environment for the heat engine operation needs to be kept consistent with the actual test working environment, the time for running the test program is not less than 20 minutes, and in actual use, the heat engine time can be correspondingly adjusted according to the actual working environment of the robot; after the heat engine operation of the robot joint is finished, formally starting the test work of the robot joint, and acquiring the test sequence of the robot joint, wherein the acquired set of test sequence comprises the ideal driving torque parameter T of the robot joint0The robot joint servo motor speed V and the robot joint servo motor acceleration a, and in addition, parameters such as motor current i and the like can be included, wherein the motor current i and the ideal driving torque parameter T0The speed V of the servo motor of the robot joint, the acceleration a of the servo motor of the robot joint and the like can be acquired in a sampling mode, the acceleration a of the servo motor of the robot joint can also be acquired through speed differentiation, the acquired test sequence at least comprises one group, the test sequence can be fed back through a controller of the robot or can be fed back through other modes, and the acquired speed and the acquired acceleration of the motor can be relative to the motor or relative to the robot joint, but the premise is that reference targets selected by the speed V and the acceleration of the servo motor of the robot joint are required to be consistent.
And 102, acquiring an actual transmission torque parameter of the robot joint according to the ideal driving torque parameter, the acceleration and a preset rotation parameter.
Specifically, after a test sequence of the tested robot joint is acquired, the ideal driving torque parameter T in the test sequence needs to be obtained0Robot joint servoAcquiring an actual rotation torque parameter T of the tested robot joint according to the motor acceleration a and a preset rotation parameter; firstly, a motor torque parameter T required by acceleration and deceleration of a high-speed end of a measured joint is acquired according to a preset rotation parameter and the acceleration a of a servo motor of the robot jointactAccording to the torque TactAnd ideal driving torque parameter T0And acquiring an actual rotation torque parameter T of the measured robot joint, wherein the preset rotation parameter refers to the rotation inertia of the measured robot joint driver and is determined by the measured robot joint driver.
And 103, constructing a friction damping model according to the actual transmission torque parameter and the motor speed, and acquiring friction damping information of the robot joint according to the friction damping model.
Specifically, firstly, a friction damping model is constructed according to an actual transmission torque parameter T and a motor speed V, wherein the friction damping model comprises the following components: t isf＝a0+a1|T|+a2|V|+a3V2Wherein, TfFor the friction damping model, T is the actual transmission torque parameter, V is the motor speed, a0、a1、a2And a3Is a coefficient to be determined, a0、a1、a2And a3The method may be obtained by a least square method, or may be obtained by other coefficient obtaining methods, which are not exclusive here.
For example, the following steps are carried out:
if the tested robot reaches the desktop robot SD7/700 in the new time, during testing, the environment temperature is controlled at 22 +/-0.5 ℃, the joint of the testing robot is selected from a J1 joint, the tail end of the robot is not provided with a load, a friction damping test program is established under a joint coordinate system, the test program is set to enable the J1 joint to move from-90 degrees to +90 degrees, then returns to-90 degrees, and 5 cycles are repeated; after the robot is subjected to heat engine operation and reaches a test condition, starting a test to obtain a test sequence of the J1 joint: ideal drive torque parameter T0The speed V of the robot joint servo motor and the acceleration a of the robot joint servo motor, screening the test sequence, removing invalid data in the test sequence, and calculating and testingActual output torque T of trial joint1＝i·Kt,KtCalculating the torque T required by the acceleration and deceleration of the high-speed end of the measured joint as 0.4 Nm/Aact＝a·Iact,Iact＝0.000073Kgm2The actual transmission torque T of the speed reducer is T ═ T0-TactAnd measuring the frictional damping information as Tf1＝T1-T0Establishing a frictional damping model Tf＝a0+a1|T|+a2|V|+a3V2(a0、a1、a2And a3Is a undetermined coefficient), the direction of damping is opposite to the direction of speed, and T is obtained by least square fittingf＝9.3+0.5|T|-0.0089|V|+0.00000402V2When the motor speed is 2000R/min, the graph of the change of the friction damping information along with the actual transmission torque is shown in fig. 2, and when the friction damping information is 30N × m, the graph of the change of the friction damping information along with the motor speed is shown in fig. 3.
Compared with the prior art, the method and the device have the advantages that in the robot joint testing process, the testing sequence of the robot joint is obtained, wherein the testing sequence comprises ideal driving torque parameters, motor speed and acceleration; acquiring an actual transmission torque parameter of the robot joint according to the ideal driving torque parameter, the acceleration and a preset rotation parameter; and constructing a friction damping model according to the actual transmission torque parameter and the machine speed, and acquiring friction damping information of the robot joint according to the friction damping model. The friction damping of the robot joint is modeled and identified to more accurately acquire the friction damping information of the robot joint, so that the robot can more fully exert the performance of an accelerator and a motor, the beat performance of the robot is improved, and the problem that the robot is accelerated by the robot due to the fact that errors exist in friction damping identification in the prior art and the safety of a speed reducer is guaranteed is solved.
A second embodiment of the present invention relates to an information recognition method, which is basically the same as the information recognition method provided in the first embodiment of the present invention, except that as shown in fig. 4, the method specifically includes:
Specifically, when a dynamic model of the robot is constructed, friction damping of joints of the robot needs to be ignored, the constructed dynamic model can be established according to a Lagrange equation or a Newton Euler equation and is determined according to the model of the robot, wherein if the dynamic model of the robot is constructed based on the Lagrange equation, the constructed dynamic model can be simplified into a dynamic model based on the Lagrange equation
And obtaining an ideal driving torque parameter according to the model, wherein,
robot joint angle, robot joint velocity and robot joint acceleration, d (q) is a robot inertial force matrix,
the centrifugal moment and the Copeng moment of the robot, G (q) the gravitational moment of the robot,
is the friction force of the robot joint, TwIs the temperature of the joint axis of the robot, tauloadFor robot joint axis loading, T1For the actual output matrix of the robot joint, TactThe torque required for accelerating and decelerating the high-speed end of the robot joint, which is only illustrated here, can be adjusted according to actual requirements in practical application, and in some cases, the acquired ideal driving torque parameter can be expressed as
Specifically, this step is substantially the same as step 101 in the first embodiment, and is not repeated here.
And step 203, acquiring an actual transmission torque parameter of the robot joint according to the ideal driving torque parameter, the acceleration and the preset rotation parameter.
Specifically, this step is substantially the same as step 102 in the first embodiment, and is not repeated here.
And 204, constructing a friction damping model according to the actual transmission torque parameter and the motor speed, and acquiring friction damping information of the robot joint according to the friction damping model.
Specifically, this step is substantially the same as step 103 in the first embodiment, and is not described herein again.
Compared with the prior art, the embodiment of the invention can obtain more accurate ideal driving torque parameters according to the dynamic model on the basis of realizing the beneficial effects brought by the first embodiment, improve the response speed of the robot and reduce the shake of the robot.
A third embodiment of the present invention relates to an information recognition method, which is substantially the same as the information recognition method provided in the first embodiment of the present invention, except that the robot needs to be subjected to a heat engine operation before the test, as shown in fig. 5, specifically including:
Specifically, before testing the joints of the robot, the working environment of the robot needs to be measured, the temperature of the working environment of the robot needs to be kept basically constant, the terminal load information of the robot needs to be set, a friction damping test program is established under a joint coordinate system (for example, the terminal load information of the robot is set to be 0 (namely the terminal does not have a load), the friction damping test program is established under the joint coordinate system, the test program is set to be J1 joints to move from-90 degrees to +90 degrees and then return to-90 degrees, 5 cycles are repeated back and forth), the robot needs to be subjected to heat engine operation, the heat engine operation is specifically to operate the test program at the test part of the robot, when the robot is subjected to heat engine, the working environment of the heat engine operation needs to be kept consistent with the actual test working environment, wherein the time for operating the test program is not less than 20 minutes, in actual use, the heat engine time can be correspondingly adjusted according to the actual working environment of the robot.
Specifically, after the robot completes the heat engine operation, the robot joint may be tested to obtain a corresponding test sequence, where the preset speed condition is a maximum speed at which the robot joint can operate.
And 303, acquiring an actual transmission torque parameter of the robot joint according to the ideal driving torque parameter, the acceleration and the preset rotation parameter.
Specifically, this step is substantially the same as step 102 in the first embodiment, and is not repeated here.
And 304, constructing a friction damping model according to the actual transmission torque parameter and the motor speed, and acquiring friction damping information of the robot joint according to the friction damping model.
Specifically, this step is substantially the same as step 103 in the first embodiment, and is not described herein again.
Compared with the prior art, the method and the device for testing the friction damping information can test the robot joint under the condition that the performance of the robot is optimal on the basis of realizing the beneficial effects brought by the first embodiment, so that the finally constructed friction damping model is more accurate, and the accuracy of the acquired friction damping information is improved.
A fourth embodiment of the present invention relates to an information recognition method, which is basically the same as the information recognition method provided in the first embodiment, except that, as shown in fig. 6, the method specifically includes:
Specifically, this step is substantially the same as step 101 in the first embodiment, and is not repeated here.
And step 402, carrying out data analysis on the test sequence to obtain an effective test sequence of the robot joint.
Specifically, the test sequence obtained in step 401 includes at least two sets, and each set of test sequence includes at least the desired driving torque parameter T0The speed V of the robot joint servo motor and the acceleration a of the robot joint servo motor need to perform data analysis on each group of test sequences, and effective test sequences are screened out; when the robot is in the acceleration phase (i.e. a)>0) The data analysis can be performed by the following method: if the value obtained by multiplying the speed V of the robot joint servo motor and the acceleration a of the robot joint servo motor in a group of test sequences is less than 0 (namely V & a)<0) It means that the test sequence cannot be used to construct the frictional damping model and the set of test sequences is invalid data. If the value obtained by multiplying the speed V of the robot joint servo motor in a group of test sequences and the acceleration a of the robot joint servo motor is larger than 0 (namely V & a)>0) If the test sequence is valid data, the test sequence can be used for constructing a frictional damping model; the robot is in the deceleration phase (i.e. a)<0) The data analysis can be performed by the following method: if the value obtained by multiplying the speed V of the robot joint servo motor and the acceleration a of the robot joint servo motor in a group of test sequences is less than 0 (namely V & a)<0) And the test sequence can be used for constructing a frictional damping model, and the set of test sequences is valid data. If the value obtained by multiplying the speed V of the robot joint servo motor in a group of test sequences and the acceleration a of the robot joint servo motor is larger than 0 (namely V & a)>0) It means that the test sequence cannot be used to construct the frictional damping model and the set of test sequences is invalid data.
And step 403, acquiring an actual transmission torque parameter of the robot joint according to the ideal driving torque parameter, the acceleration and the preset rotation parameter.
Specifically, this step is substantially the same as step 102 in the first embodiment, and is not repeated here.
And step 404, constructing a friction damping model according to the actual transmission torque parameter and the motor speed, and acquiring friction damping information of the robot joint according to the friction damping model.
Specifically, this step is substantially the same as step 103 in the first embodiment, and is not described herein again.
Compared with the prior art, the method and the device for testing the friction damping model have the advantages that on the basis of achieving the beneficial effects brought by the first implementation mode, the obtained test sequence of the robot joint can be analyzed, some invalid data are removed, the fact that the built friction damping model has errors due to the existence of the invalid data is avoided, and the accuracy of the obtained friction damping information is improved.
A fifth embodiment of the present invention relates to an information recognition method, which is substantially the same as the information recognition method provided in the first embodiment, except that step 102 is detailed, and specifically includes, as shown in fig. 7:
Specifically, this step is substantially the same as step 101 in the first embodiment, and is not repeated here.
And 502, acquiring a motor torque parameter of the robot joint according to the acceleration and a preset rotation parameter.
Specifically, the acquired test sequence of the tested robot joint comprises a perfect driving torque parameter T0The robot joint servo motor acceleration a acquires a motor torque parameter T required by acceleration and deceleration of the high-speed end of the measured joint according to preset rotation parameters and the robot joint servo motor acceleration aactWherein, the specific calculation formula is as follows: t isact＝a·Iact，IactThe preset rotation parameter is the rotation inertia of the measured robot joint driver and is determined by the measured robot joint driver.
And step 503, acquiring an actual transmission torque parameter according to the ideal driving torque parameter and the motor torque parameter.
Specifically, the torque parameter T is further determinedactAnd ideal driving torque parameter T0Acquiring an actual rotation torque parameter T of the measured robot joint, wherein a specific calculation formula is as follows: t ═ T0-Tact。
And step 504, constructing a friction damping model according to the actual transmission torque parameter and the motor speed, and acquiring friction damping information of the robot joint according to the friction damping model.
Specifically, this step is substantially the same as step 103 in the first embodiment, and is not described herein again.
Compared with the prior art, on the basis of realizing the beneficial effects brought by the first embodiment, the embodiment of the invention can acquire the corresponding actual transmission torque parameters according to the type of the robot, so that the constructed friction damping model is more accurate, and the acquired friction damping information is more accurate.
A sixth embodiment of the present invention relates to an information recognition method, which is basically the same as the information recognition method provided in the first embodiment, except that, as shown in fig. 8, the method specifically includes:
Specifically, this step is substantially the same as step 101 in the first embodiment, and is not repeated here.
And step 602, acquiring an actual transmission torque parameter of the robot joint according to the ideal driving torque parameter, the acceleration and a preset rotation parameter.
Specifically, this step is substantially the same as step 102 in the first embodiment, and is not repeated here.
Specifically, the motor current i required by the robot joint during operation is obtained.
And step 604, acquiring an actual output torque parameter of the robot joint according to the motor current and a preset torque parameter.
Specifically, the actual output torque parameter T1＝i·KtWhere i is the motor current obtained in step 603, and KtTo preset the torque parameters, which are determined by the robot itself, the torque parameters of different types of robots may be the same or different.
And step 605, acquiring the measured friction damping of the robot joint according to the actual output torque parameter and the ideal driving torque parameter.
Specifically, the frictional damping T is measuredf1In fact, the friction damping information obtained through theoretical calculation may be the same as or different from the friction damping information obtained through the friction damping model; the friction damping information obtained by the friction damping model is a section of fitted curve, some predicted values exist, and the friction damping measured by the friction damping model can be used for verifying the friction damping information predicted by the friction damping model so as to perform adaptive adjustment on the friction damping model in time. Wherein the frictional damping T is measuredf1＝T1-T0Wherein, T1For the actual output torque parameter, T0Is an ideal drive torque parameter.
And 606, constructing a friction damping model according to the actual transmission torque parameter and the motor speed, and acquiring friction damping information of the robot joint according to the friction damping model.
Specifically, this step is substantially the same as step 103 in the first embodiment, and is not described herein again.
Compared with the prior art, the method and the device for measuring the friction damping information have the advantages that the actual measured friction damping information can be obtained on the basis of the beneficial effects brought by the first embodiment, the friction damping information obtained according to the friction damping model is verified by using the information, so that the friction damping model can be adjusted adaptively in time, the accuracy of the friction damping information obtained by the method and the device for measuring the friction damping information is guaranteed, and the applicability is stronger.
In addition, it should be understood that the above steps of the various methods are divided for clarity, and the implementation may be combined into one step or split into some steps, and the steps are divided into multiple steps, so long as the same logical relationship is included in the protection scope of the present patent; it is within the scope of the patent to add insignificant modifications to the algorithms or processes or to introduce insignificant design changes to the core design without changing the algorithms or processes.
A seventh embodiment of the present invention relates to an information recognition apparatus, as shown in fig. 9, including:
the first acquisition module 701 is used for acquiring at least two groups of test parameter sequences of the robot joint, wherein the test parameter sequences comprise ideal driving torque parameters, motor speed and acceleration;
a second obtaining module 702, configured to obtain an actual transmission torque parameter of the robot joint according to an ideal driving torque parameter acceleration and a preset rotation parameter;
the building module 703 is configured to build a friction damping model according to the actual transmission torque parameter and the motor speed, and obtain friction damping information of the robot joint according to the friction damping model.
It should be noted that each module referred to in this embodiment is a logical module, and in practical applications, one logical unit may be one physical unit, may be a part of one physical unit, and may be implemented by a combination of multiple physical units. In addition, in order to highlight the innovative part of the present invention, elements that are not so closely related to solving the technical problems proposed by the present invention are not introduced in the present embodiment, but this does not indicate that other elements are not present in the present embodiment.
An eighth embodiment of the present invention relates to an electronic apparatus, as shown in fig. 10, including:
at least one processor 801; and the number of the first and second groups,
a memory 802 communicatively coupled to the at least one processor 801; wherein the content of the first and second substances,
the memory 802 stores instructions executable by the at least one processor 801 to enable the at least one processor 801 to perform any of the above-described information recognition methods of the present invention.
Where the memory and processor are connected by a bus, the bus may comprise any number of interconnected buses and bridges, the buses connecting together one or more of the various circuits of the processor and the memory. The bus may also connect various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor is transmitted over a wireless medium via an antenna, which further receives the data and transmits the data to the processor.
The processor is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And the memory may be used to store data used by the processor in performing operations.
A ninth embodiment of the present invention relates to a computer-readable storage medium storing a computer program. The computer program realizes the above-described method embodiments when executed by a processor.
That is, as can be understood by those skilled in the art, all or part of the steps in the method for implementing the embodiments described above may be implemented by a program instructing related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, or the like) or a processor (processor) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (10)
1. An information identification method is applied to a robot joint test process, and comprises the following steps:
obtaining a test sequence of the robot joint, wherein the test sequence comprises ideal driving torque parameters, motor speed and acceleration;
acquiring an actual transmission torque parameter of the robot joint according to the ideal driving torque parameter, the acceleration and a preset rotation parameter;
and constructing a friction damping model according to the actual transmission torque parameter and the motor speed, and acquiring friction damping information of the robot joint according to the friction damping model.
2. The information recognition method of claim 1, wherein the obtaining the test sequence of the robot joint further comprises:
and constructing a dynamic model of the robot, and acquiring the ideal driving torque parameters of the robot joint according to the dynamic model.
3. The information identification method according to claim 1, wherein the obtaining of the sequence of test parameters of the robot joint further comprises performing a thermo-mechanical operation on the robot.
4. The information recognition method of claim 1, wherein the obtaining of the test sequence of the robot joint further comprises:
and carrying out data analysis on the test sequence to obtain an effective test sequence of the robot joint.
5. The information identification method according to claim 1, wherein the obtaining of the actual transmission torque parameter of the robot joint from the ideal driving torque parameter, the acceleration, and a preset rotation parameter comprises:
acquiring a motor torque parameter of the robot joint according to the acceleration and the preset rotation parameter;
and acquiring the actual transmission torque parameter according to the ideal driving torque parameter and the motor torque parameter.
6. The information identification method according to claim 1, wherein the constructing a frictional damping model based on the actual transmission torque parameter and the motor speed is specifically:
Tf＝a0+a1|T|+a2|V|+a3V2
wherein, TfFor the friction damping model, T is the actual transmission torque parameter, V is the motor speed, a0、a1、a2And a3Is the undetermined coefficient.
7. The information identification method according to claim 1, wherein the obtaining of the actual transmission torque parameter of the robot joint based on the desired driving torque parameter, the acceleration, and a preset rotation parameter further comprises:
acquiring motor current of the robot joint;
acquiring an actual output torque parameter of the robot joint according to the motor current and a preset torque parameter;
and acquiring the measured friction damping of the robot joint according to the actual output torque parameter and the ideal driving torque parameter.
8. An information identifying apparatus, comprising:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring at least two groups of test parameter sequences of the robot joint, and the test parameter sequences comprise ideal driving torque parameters, motor speed and acceleration;
the second acquisition module is used for acquiring an actual transmission torque parameter of the robot joint according to the ideal driving torque parameter, the acceleration and a preset rotation parameter;
and the construction module is used for constructing a friction damping model according to the actual transmission torque parameter and the motor speed and acquiring friction damping information of the robot joint according to the friction damping model.
9. An electronic device, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions for execution by the at least one processor to enable the at least one processor to perform the information identification method of any one of claims 1 to 7.
10. A computer-readable storage medium storing a computer program, wherein the computer program is executed by a processor to implement the information identification method according to any one of claims 1 to 7.
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