工业机器人动力学参数分步辨识与零力控制示教  

Stepwise Identification of Industrial Robot Dynamics Parameters and Force-Free Control Teaching

作　　者：方骏玮 王斌锐 谢胜龙 任海军 FANG Jun-wei;WANG Bin-rui;XIE Sheng-long;REN Hai-jun(School of Mechanical and Electrical Engineering,China Jiliang University,Zhejiang Hangzhou 310018,China;Hangzhou Siasun Robot&Automation Co.,Ltd.,Zhejiang Hangzhou 311200,China)

机构地区：[1]中国计量大学机电工程学院,浙江杭州310018 [2]杭州新松机器人自动化有限公司,浙江杭州311200

出　　处：《机械设计与制造》2022年第5期240-244,共5页Machinery Design & Manufacture

基　　金：国家重点研发计划(2017YFC0804609)。

摘　　要：针对复杂工况下,工业机器人直接示教柔顺性欠缺的问题,这里在传统零力控制算法中加入动力学惯性项补偿以降低示教过程的牵引力。首先,在综合考虑重力、关节摩擦和科氏力等因素的情况下,建立了一种6轴工业机器人线性动力学模型。针对该动力学模型参数辨识高维度、强非线性、多参数的特点,提出了一种分步辨识方法,此方法能有效地降低辨识方程系数矩阵维度,减少计算量。然后,根据辨识结果设计基于力矩控制的惯性项补偿零力控制器。最后,进行动力学参数辨识结果验证与直接示教实验。实验结果表明所提出的分步辨识方法结果较为精确;相比传统的零力控制算法,增加惯性项补偿的零力控制算法能使示教过程的牵引力幅值降低28.6%,显著改善示教过程的柔顺性。In order to solve the problem that lack of flexibility in direct teaching of industrial robots under complex working conditions,dynamic inertia term compensation is added to the traditional Force-free control algorithm to reduce the traction in the teaching process. Firstly,a linear dynamic model of a 6-axis industrial robot was established under the consideration of factors such as gravity,joint friction and Coriolis force.According to the characteristics of high-dimensional,strong nonlinear and multiparameters of the dynamic model parameters,a classification and step-by-step identification method is proposed.This method can effectively reduce the dimension matrix of the identification equation and reduce the calculation.Then,the dynamic parameter identification results verification and direct teaching experiments were carried out.The experimental results show that the proposed classification step-by-step identification method is more accurate.Compared with the traditional Force-free control algorithm,the Force-free control algorithm with increased inertia compensation can reduce the traction force amplitude of the teaching process by 28.6%,which significantly improves the flexibility of the teaching process.

关 键 词：直接示教 零力控制 惯性项补偿 动力学建模 参数辨识 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]