机器人参数辨识和计算力矩法轨迹控制研究  

Dynamic Parameter Identification of Robot and Trajectory Control Using Computed Torque Method

作　　者：赖含 韩奉林[1] 胡金飞 Lai Han;Han Fenglin;Hu Jinfei(College of Mechanical and Electrical Engineering,Central South University,Changsha 410012,China;School of Mechanical Engineering,Zhejiang University,Hangzhou 310027,China)

机构地区：[1]中南大学机电工程学院,长沙410012 [2]浙江大学机械工程学院,杭州310027

出　　处：《机电工程技术》2020年第11期29-32,179,共5页Mechanical & Electrical Engineering Technology

基　　金：国家自然科学基金项目(编号:51405518)。

摘　　要：为了实现计算力矩法轨迹控制,以三自由度机器人为研究对象,建立运动学和动力学模型。将优化系数后的有限傅里叶级数作为激励轨迹,借助柯马Racer3机器人平台进行PID辨识实验。利用辨识出的动力学参数所计算的理论力矩和实际力矩的高吻合程度,证明了参数辨识的准确性。在Simulink环境下,根据计算力矩法设计轨迹跟踪控制器,以仿真动态轨迹跟踪情况。基于参数辨识的准确结果和仿真调试的控制参数,展开计算力矩法轨迹控制实验,结果表明该种方法能够实现机器人较高精度的轨迹控制。In order to realize the trajectory control of the computational torque method,the kinematics and dynamics models of a 3-DOF robot were established.The finite Fourier series with optimized coefficients was used as the excitation trajectory,and PID identification experiment was carried out on Komar Racer3 robot platform.The accuracy of parameter identification was proved by the high degree of agreement between the theoretical torque and the actual torque calculated by the identified dynamic parameters.In the Simulink environment,the trajectory tracking controller was designed according to the computational torque method to simulate the dynamic trajectory tracking.Based on the accurate results of parameter identification and the control parameters of simulation debugging,the trajectory control experiment of computational torque method was carried out.The results show that the method can achieve high precision trajectory control of robot.

关 键 词：三自由度机器人 动力学模型 激励轨迹 参数辨识 计算力矩法 轨迹跟踪 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置] TP242[自动化与计算机技术—控制科学与工程]