Dynamic parameter identification and nonlinear friction compensation method for safety perception of heavy explosion-proof robots  

作　　者：Yanli Feng Ke Zhang 

机构地区：[1]College of Astronautics,Northwestern Polytechnical University,Xi’an,People’s Republic of China [2]Xi’an Aerospace Precision Electromechanical Institute,Xi’an,People’s Republic of China

出　　处：《Journal of Control and Decision》2022年第4期455-464,共10页控制与决策学报（英文）

基　　金：supported by the National Key Research and Development Program:[Grant Number 2018YFB1305700].

摘　　要：This article focuses on the problem of how to accurately calculate the joint control torques when the explosion-proof robot performs collision detection without sensors and gives a complete solution.Nonlinear joint frictions are incorporated into the dynamic model of a robotic manip-ulator to improve calculation accuracy.A genetic algorithm is used to optimise the excitation trajectories to fully stimulate the robot dynamic characteristics.Effective and applicable data filtering and smoothing methods are proposed and the Iteratively Reweighted Least-Squares method based on the error term is applied to identify the robot dynamic parameters.Compared with Ordinary Least-Squares method,the proposed algorithm improves the accuracy of joint control torques estimation.

关 键 词：Heavy explosion-proof robots dynamic parameter identification nonlinear friction compensation 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]