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CN-121994467-A - Method and device for evaluating acceleration performance of robot

CN121994467ACN 121994467 ACN121994467 ACN 121994467ACN-121994467-A

Abstract

The application relates to the technical field of robot performance evaluation, in particular to a method and a device for evaluating acceleration performance of a robot, wherein the method comprises the steps of generating an acceleration mapping matrix of the robot according to a pre-constructed robot dynamics model; and calculating at least one composite acceleration performance index of the robot according to the at least one singular value to generate an acceleration performance evaluation result of the robot according to the at least one composite acceleration performance index. Therefore, the problems that the single acceleration related index is generally adopted as an evaluation basis in the related technology, the evaluation result is easy to have one-sided performance, the overall dynamic performance of the robot under the actual complex working condition cannot be accurately represented and the like are solved.

Inventors

  • LIU HAIGE
  • QIU JIAHAO
  • ZHU BIN
  • WU JUN

Assignees

  • 清华大学

Dates

Publication Date
20260508
Application Date
20260128

Claims (10)

  1. 1. The method for evaluating the acceleration performance of the robot is characterized by comprising the following steps of: generating an acceleration mapping matrix of the robot according to a pre-constructed robot dynamics model; Performing singular value decomposition on the acceleration mapping matrix to obtain at least one singular value representing the geometrical characteristics of the dynamically operable ellipsoids of the robot; At least one composite acceleration performance index of the robot is calculated according to the at least one singular value, so that an acceleration performance evaluation result of the robot is generated according to the at least one composite acceleration performance index.
  2. 2. The method of claim 1, wherein generating the acceleration performance evaluation result of the robot according to the at least one composite acceleration performance index comprises: Acquiring the at least one composite acceleration performance index under at least one pose; Calculating a global acceleration index of the robot on a working space according to the at least one composite acceleration performance index; and generating the acceleration performance evaluation result according to the global acceleration index.
  3. 3. The method of claim 2, wherein the global acceleration index is calculated by the formula: , Wherein, the Represents the global acceleration index, N represents discrete pose points, A composite acceleration performance index value indicating that the robot tip is located at each pose point.
  4. 4. The method of claim 1, wherein said calculating at least one composite acceleration performance index of the robot from the at least one singular value comprises: Calculating at least one of the composite acceleration performance indicators from the ratio of the volume of the dynamically operable ellipsoids to the square of the maximum half-axis length based on the at least one singular value, and/or At least one of the composite acceleration performance indicators is calculated from the product of the volume of the dynamically operable ellipsoid and a geometric factor characterizing the compactness of the shape of the ellipsoid based on the at least one singular value.
  5. 5. The method of claim 1, wherein the expression of the robot dynamics model is: , Wherein J is a jacobian matrix of the robot, Is a joint driving moment vector, P is a robot tail end pose vector, The end velocity and acceleration, respectively, M (P) is the inertial matrix mapped to the operating space, And the matrix is a nonlinear term matrix, W is an external force/torque term, and G (P) is a gravity term.
  6. 6. The method of claim 1, wherein said performing a singular value decomposition on said acceleration mapping matrix to obtain at least one singular value characterizing a dynamically operable ellipsoid geometry of said robot comprises: Extracting rows and columns corresponding to the redundant degrees of freedom according to the acceleration mapping matrix to obtain a submatrix corresponding to the terminal operation degrees of freedom; Partitioning the submatrices according to physical dimensions to obtain a translational degree of freedom submatrix and a rotational degree of freedom submatrix which characterize the geometrical characteristics of a dynamic operable ellipsoid of the robot; Singular value decomposition is performed on the translational degree-of-freedom submatrix and the rotational degree-of-freedom submatrix to obtain a first singular value of the translational degree-of-freedom submatrix and a second singular value of the rotational degree-of-freedom submatrix.
  7. 7. A robot acceleration performance evaluation device, comprising: The generation module is used for generating an acceleration mapping matrix of the robot according to a pre-constructed robot dynamics model; the decomposition module is used for carrying out singular value decomposition on the acceleration mapping matrix to obtain at least one singular value representing the geometrical characteristics of the dynamically operable ellipsoid of the robot; And the evaluation module is used for calculating at least one composite acceleration performance index of the robot according to the at least one singular value so as to generate an acceleration performance evaluation result of the robot according to the at least one composite acceleration performance index.
  8. 8. An electronic device comprising a memory, a processor and a computer program stored on the memory and capable of running on the processor, the processor executing the program to implement the robot acceleration performance evaluation method of any one of claims 1-6.
  9. 9. A computer-readable storage medium having stored thereon a computer program, characterized in that the program is executed by a processor for realizing the robot acceleration performance evaluation method according to any one of claims 1-6.
  10. 10. A computer program product comprising a computer program, characterized in that the computer program is executed for implementing the robot acceleration performance evaluation method according to any one of claims 1-6.

Description

Method and device for evaluating acceleration performance of robot Technical Field The application relates to the technical field of robot performance evaluation, in particular to a method and a device for evaluating acceleration performance of a robot. Background In the related art, the dynamic acceleration performance of a robot is usually quantified by a specific numerical index, such as a maximum acceleration, an acceleration time, or a joint angular acceleration peak value, so as to effectively evaluate the merits of different robot configurations and driving designs. However, in the related art, a single acceleration related index is generally adopted as an evaluation basis, so that the dynamic response characteristics of the robot in the starting, speed changing and multi-joint cooperative motion process cannot be comprehensively reflected, the evaluation result is easy to be one-sided or incomplete, the overall dynamic performance of the robot under the actual complex working condition is difficult to accurately represent, and the problem is to be solved. Disclosure of Invention The application provides a method and a device for evaluating acceleration performance of a robot, which are used for solving the problem that in the related technology, as the related technology generally adopts a single acceleration related index as an evaluation basis, the evaluation result is easy to have one-sided performance, so that the overall dynamic performance of the robot under the actual complex working condition cannot be accurately represented. The embodiment of the first aspect of the application provides a robot acceleration performance evaluation method, which comprises the following steps of generating an acceleration mapping matrix of a robot according to a pre-constructed robot dynamics model, carrying out singular value decomposition on the acceleration mapping matrix to obtain at least one singular value representing the geometrical characteristics of a dynamic operable ellipsoid of the robot, and calculating at least one composite acceleration performance index of the robot according to the at least one singular value to generate an acceleration performance evaluation result of the robot according to the at least one composite acceleration performance index. Through the technical means, the method and the device can calculate the composite acceleration performance index according to the singular value of the acceleration mapping matrix, further generate the acceleration performance evaluation result of the robot, comprehensively reflect the overall dynamic acceleration capacity of the robot in different main directions in the task space and the distribution characteristics of the robot, avoid the unilateral performance caused by evaluating by only adopting a single acceleration performance index, and simultaneously give consideration to the influence of translational and rotational degrees of freedom on the acceleration performance, improve the objectivity and comparability of the comparison analysis of the acceleration performance of the robot under different configurations, different driving modes and different working postures, and provide a reliable basis for the dynamic performance evaluation and the optimal design of the robot. Optionally, in one embodiment of the present application, the generating the acceleration performance evaluation result of the robot according to the at least one composite acceleration performance index includes obtaining the at least one composite acceleration performance index under at least one pose, calculating a global acceleration index of the robot on a working space according to the at least one composite acceleration performance index, and generating the acceleration performance evaluation result according to the global acceleration index. Through the technical means, the embodiment of the application can generate the acceleration performance evaluation result according to the global acceleration index, can comprehensively reflect the overall dynamic acceleration performance level of the robot in the whole working space range, and reduces the influence of a single pose or local working condition on the evaluation result, thereby improving the stability and representativeness of the acceleration performance evaluation result. Optionally, in an embodiment of the present application, the calculation formula of the global acceleration index is: , Wherein, the Represents the global acceleration index of the vehicle,The discrete pose points are represented by the three-dimensional model,A composite acceleration performance index value indicating that the robot tip is located at each pose point. Through the technical means, the embodiment of the application quantifies the global acceleration index, can uniformly and quantitatively characterize the dynamic acceleration performance of the robot in the whole working space range, and integrates the local acceleration perf