Robot friction torque identification method based on improved LuGre model

The invention discloses a robot friction torque identification method based on an improved LuGre model, and the method comprises the steps: building a multi-factor dynamic robot joint friction model through an improved LuGre friction model, and dividing the parameters of the model according to types...

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Bibliographic Details
Main Authors REN QINYUAN, SU HAIRONG, LIANG JUN, MENG WEI
Format Patent
LanguageChinese
English
Published 12.09.2023
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Summary:The invention discloses a robot friction torque identification method based on an improved LuGre model, and the method comprises the steps: building a multi-factor dynamic robot joint friction model through an improved LuGre friction model, and dividing the parameters of the model according to types; robot joint torque composition and characteristics of all parts are analyzed, and friction torque is indirectly observed through measurable quantity; respectively designing excitation experiments of a stable motion state and a viscous motion state, and identifying static parameters and dynamic parameters in the model; and finally, analyzing the function relationship among the robot joint friction torque, the load and the temperature, and identifying parameters related to the load and the temperature in the model to obtain the robot joint friction model. The method is an important, effective and low-cost means for improving the control precision of the robot. 本发明公开了一种基于改进LuGre模型的机器人摩擦力矩辨识方法，所述方法通过改进LuGre摩擦模型建立多因素的
Bibliography:Application Number: CN202310774761