运动状态下机器人关节面物理参数在线模糊辨识方法  

On-Line Fuzzy Identifying Physical Parameters of Joint Moving State Robots

作　　者：静大海[1] 刘晓平[2] 

机构地区：[1]河海大学电气工程学院,南京210098 [2]北京邮电大学自动化学院,北京100876

出　　处：《北京邮电大学学报》2008年第1期52-56,共5页Journal of Beijing University of Posts and Telecommunications

基　　金：教育部重点项目(教重104043)

摘　　要：利用模糊自动推理方法,提出了一种辨识运动状态下机器人关节面时变物理参数的方法.该方法是在原有模糊聚类法的基础上,推导出的在线自适应模糊推理算法,可应用在时变非线性系统参数在线辨识中.以三自由度单臂机器人为研究对象,建立了机器人运动状态下的动力学模型,利用该自适应模糊推理算法在线辨识此动力学模型中的机器人关节面时变物理参数.由于该方法采用局部估计算法,实验结果表明,该方法具有工程实用价值.An identification method for physical parameters of joint of robot is presented based on fuzzy automatic reasoning method. The method is a kind of on line adaptive fuzzy reasoning which is deduced based on fuzzy clustering method. The method can be used in parameters identification of timevarying system. Also a 3-DOF single arm robot is used as research object, and a dynamic model of the moving robot is built. The adaptive fuzzy reasoning method is used to identify the time-varying physical parameters of the robot joint. The computing error can be reduced because the local estimating method is applied. Experiment result shows that the method has better computing precision and identification speed, and has application value in practice engineering.

关 键 词：机器人 非线性参数辨识 模糊集合 动力学模型 

分 类 号：O327[理学—一般力学与力学基础] TB122[理学—力学]