协作机器人动力学参数辨识方法研究  

Study on Identification Method for Dynamic Parameter of Collaborative Robot

作　　者：潘炳伟 吕燕[1] 蒋劲峰[1] 薛佩姣 Pan Bingwei;Lu Yan;Jiang Jinfeng

机构地区：[1]上海电气集团股份有限公司中央研究院

出　　处：《上海电气技术》2019年第4期1-5,23,共6页Journal of Shanghai Electric Technology

基　　金：上海市科学技术委员会项目(编号:17DZ2283300)

摘　　要：论述了协作机器人的运动学和动力学理论基础,对协作机器人动力学模型进行了分析。在此基础上,对协作机器人的动力学参数辨识方法进行了研究,分析了机器人关节摩擦特性,介绍了基于连接组合体的惯性参数辨识方法。对协作机器人进行了动力学模型仿真,并与辨识结果进行对比,确认了动力学参数辨识方法的正确性。The theoretical basis of kinematics and dynamics of the collaborative robot was discussed,and the dynamic model of the collaborative robot was analyzed.On this basis,the identification method for the dynamic parameter of the collaborative robot was studied.The friction characteristics of the robot joint were analyzed.The identification method for inertial parameter based on the joint assembly was introduced.The dynamic model of the collaborative robot was simulated and compared with the identification results to confirm the correctness of the identification method for dynamic parameter.

关 键 词：协作机器人 动力学参数 辨识 

分 类 号：TM11[电气工程—电工理论与新技术] TP242[自动化与计算机技术—检测技术与自动化装置]