机器人操作臂动力学参数的动静态辨识方法研究  

Static and dynamic method of identifying dynamic parameters of manipulater

作　　者：张岩[1] 

机构地区：[1]中国科学院长春光学精密机械与物理研究所,吉林长春130033

出　　处：《机电工程》2014年第3期283-288,共6页Journal of Mechanical & Electrical Engineering

摘　　要：针对机器人惯性参数辨识的问题,提出了一种机械臂动力学参数的动静态混合辨识方法。在静态辨识中,通过变换机械臂的构型构造多维矩阵,利用机器人基座六维力传感器采集的三维力及力矩值,采用最小二乘法求解机械臂各连杆质量与质心坐标的乘积,为动态辨识过程消去待辨识参数的二次方项,降低辨识的复杂度。利用静态辨识结果,基于牛顿-欧拉算法推导参数解耦形式的机械臂动力学方程。在动态辨识中,规划各关节按照特定的组合方式运动,根据采集的各关节的力矩、速度及加速度值,采用伪逆法辨识各连杆的惯性张量以及质心坐标,继而完成动力学参数的全辨识,算法的参数辨识误差低于0.7%。最后,通过仿真实验验证了该辨识算法的正确性与可行性。Aiming at the problem of inertial parameters identification,the method of static and dynamic identification of robot dynamics parameters was presented.In the phase of static identification,a multidimensional matrix was constituted through transforming the configurations of robot arms.Then,the product of mass and center-of-mass coordinates was solved by using the least square method.Based on Newton-Euler algorithm,decoupled dynamic equation of mechanical arms dynamics was deduced.In the phase of dynamic identification,specific joint movement was designed.The inertia tensor and centroid coordinates of robot arms were identified by adopting the pseudo inverse method.Then,the whole identification of dynamic parameters was completed.Finally,the result of simulation and experiment indicate that the correctness and feasibility of the identification algorithm is manifested.

关 键 词：动力学参数 动静态辨识 机械臂 

分 类 号：TH113[机械工程—机械设计及理论] TP241[自动化与计算机技术—检测技术与自动化装置]