基于连接组合体方法的关节机器人动力学参数辨识  

Identification of Articulated Robots' Dynamics Parameters Based on Linkage-assemblies Method

作　　者：耿令波[1] 陈柏[1] 吴洪涛[1] 

机构地区：[1]南京航空航天大学江苏省精密与微细制造技术重点实验室,南京210016

出　　处：《中国机械工程》2014年第5期581-587,共7页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(51075209);国家高技术研究发展计划(863计划)资助项目(2013AA041004);江苏省自然科学基金资助项目(BK2012798);江苏省产学研联合创新资金--前瞻性联合研究项目(BY2012011;BK2013003-10);南京市科委产学研计划(201204014)

摘　　要：为获得不受负载影响的机器人动力学参数的独立值,采用连接组合体方法辨识机器人动力学参数,即辨识时按照一定的方式及次序锁定其他关节,每次仅让某几个关节运动,从而辨识出全部参数的独立值。编写了机器人动力学参数辨识程序,对某确定工业机器人进行了动力学参数辨识计算。结果表明:该方法能够获得独立的机器人动力学参数;绝大多数参数能够获得理想的辨识精度;受噪声影响,部分参数辨识结果与理想值差距较大,原因在于这些参数对力矩的贡献很小,在噪声存在的情况下,其信息被淹没;基于辨识结果的力矩计算结果与机器人控制理想力矩具有很高的吻合度,验证了该方法的正确性。Based on the linkage--assemblies method, a novel dynamics parameters identification method was presented aiming at obtaining the dynamics parameter values indepent of the suffering loads. All the indepent values of paramaters can be obtained during the identification process of keeping several joints actuated while the rests were locked in a certain method and sequence. Robot dynamics parameter identification program were compiled to calculate the dynamics parameters of a certain industrial robot. The results indicate that all the independent values of parameters can be obtained by this method, and most of them has an ideal accuracy. The low accuracy of few parameters is due to their small contribution to the torque, and when the data is affected by the noise, their information will be submerged. The torque values computed by this novel method are highly close to the the ideal robot controlling values, which indicates the feasibility of this method.

关 键 词：关节型机器人 惯量参数 参数辨识 连接组合体法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]