北京航空航天大学学报 ›› 2015, Vol. 41 ›› Issue (9): 1595-1599.doi: 10.13700/j.bh.1001-5965.2014.0669

• 论文 • 上一篇    下一篇

无传感器的工业机器人负载识别方法

陈友东1, 季旭东1, 谷平平1, 胡国栋2   

  1. 1. 北京航空航天大学 机械工程及自动化学院, 北京 100191;
    2. 安徽埃夫特智能装备有限公司, 芜湖 241007
  • 收稿日期:2014-10-28 出版日期:2015-09-20 发布日期:2015-09-29
  • 通讯作者: 陈友东(1973—),男,安徽庐江人,副教授,chenyd@buaa.edu.cn,主要研究方向为工业机器人. E-mail:chenyd@buaa.edu.cn
  • 基金资助:
    国家“863”计划(2014AA041601)

Identifying method of load for sensorless industrial robot

CHEN Youdong1, JI Xudong1, GU Pingping1, HU Guodong2   

  1. 1. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;
    2. Anhui Efort Intelligent Equipment Co., Ltd, Wuhu 241007, China
  • Received:2014-10-28 Online:2015-09-20 Published:2015-09-29

摘要: 工业机器人在使用过程中,由于末端负载的变化导致机械振动,因此需要识别机器人末端负载去调整相应的控制参数来保证其具有良好的运动表现.提出一种基于伺服电机输出力矩,不需要额外传感器的机器人负载识别方法.根据机器人静力学模型,计算出静止状态下末端空载和负载情况下的输出力矩差异,由此得到负载计算模型.对埃夫特的QH165机器人进行了试验,在工作空间内随机选择10个测量点,在末端空载和负载的情况下读取电机输出的力矩,计算得到末端负载.结果表明:识别的负载与已知负载相同,试验表明该方法的可行性.

关键词: 工业机器人, 负载识别, 伺服电机, 传感器, 负载模型

Abstract: When the load of the industrial robot end-effector is changed in practical use, mechanical vibration occurs, in order to get high motion performance of the industrial robot, the end-effector load should be identified to modify the control parameter. A method of identifying load by servo motor output torque was proposed, which did not need an additional sensor. According to the static model of the robot, the load calculation model was achieved by the output torque difference between the end-effector with and without load. In the industrial workspace of the EFFORT QH165 robot, we randomly selected 10 measurement points to read the servo motor torque and calculated the load respectively. The results show that load identified by this method is the same with the given load. Through the experiments on the robot, the effectiveness of the proposed method is confirmed.

Key words: industrial robot, load identification, servo motor, sensor, load model

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