具有谐波减速器的机器人关节建模与动力学参数辨识  

Modelling and Dynamics Parameter Identification of Robot Joints with Harmonic Reducers

作　　者：张一楠 丁建完[1] ZHANG Yinan;DING Jianwan(National CAD Support Software Engineering Research Center,Huazhong University of Science and Technology,Wuhan 430074,China)

机构地区：[1]华中科技大学国家CAD支撑软件工程技术研究中心,湖北武汉430074

出　　处：《信息与控制》2023年第3期292-301,共10页Information and Control

基　　金：国家重点研发计划(2019YFB1706501)。

摘　　要：针对串联机器人,提出了一种改进的机器人关节模型,并采用该模型开展了机器人动力学建模与辨识工作。建立了机器人动力学模型,对机器人关节结构进行分析,改进了关节模型,并通过谐波减速器的输入力矩近似估计其摩擦力矩。选取傅里叶级数为激励轨迹并优化其参数,通过控制关节按照所得轨迹运动,采集并处理相关数据,并基于加权最小二乘法分别辨识机器人关节模型参数与连杆动力学参数。通过关节预测力矩对所得参数进行验证,结果表明,基于改进关节模型的机器人动力学模型精度得到明显提升。In this study,we propose an improved robot joint model to carry out robot dynamics modeling and identification work.For this,we establish a robot dynamic model,analyze the joint structure of the robot,improve the joint model,and then use the input torque of a harmonic reducer to approximately estimate friction torque.We select the Fourier series as the excitation trajectory and optimize its parameters.Relevant data are collected and processed by controlling the movement of joints according to the obtained trajectory.We then identify and link the robot joint model parameters based on the weighted least squares method.The obtained parameters are verified using the joint predicted torque.Our experimental results show that the robot dynamics model based on the improved joint model has significantly improved accuracy.

关 键 词：串联机器人 关节模型 参数辨识 谐波减速器 最小二乘法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]