Identification of robot dynamic model and joint frictions using a baseplate force sensor  

作　　者：WU JianHua LI Wang XIONG ZhenHua 

机构地区：[1]Institute of Robotics,School of Mechanical Engineering,Shanghai Jiao Tong University.Shanghai 200240,China

出　　处：《Science China(Technological Sciences)》2022年第1期30-40,共11页中国科学（技术科学英文版）

基　　金：supported in part by the National Natural Science Foundation of China(Grant No.91848106);the Program of Shanghai Academic/Technology Research Leader(Grant No.18XD1401700)。

摘　　要：Dynamic models play an important role in robot control and applications.The accurate identification of dynamic models has become crucial to meeting increasing performance requirements.Owing to the inertial forces and the joint frictions coupling,the identification first requires a parametrized friction model.However,the joint frictions are strongly nonlinear and vary with many factors including posture,velocity and temperature.Hence,all friction models have some deviation from the real values,which reduces the identification accuracy.This paper proposes an identification approach using a baseplate force sensor.It identifies the inertial parameters first and then computes the joint friction values by subtracting the inertial torques from the joint torques.This method has the advantage that it does not require a priori friction model.It can choose or construct a proper model to fit the real values and is thus expected to achieve high performance.Experiments on a 6-DoF robot were conducted to verify the proposed method.

关 键 词：robot dynamic model model identification joint friction 

分 类 号：TP212[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]