A method for dynamic parameter identification of an industrial robot based on frequency response function  

作　　者：Bo Li Wei Zhao Yunfei Miao Wei Tian Wenhe Liao 

机构地区：[1]College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing,China [2]School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing,China

出　　处：《International Journal of Mechanical System Dynamics》2024年第4期461-471,共11页国际机械系统动力学学报(英文)

基　　金：Natural Science Foundation of Jiangsu Province,Grant/Award Number:BK20230092;State Key Laboratory of Mechanics and Control for Aerospace Structures(Nanjing University of Aeronautics and astronautics),Grant/Award Number:MCAS-S-0423G05;National Natural Science Foundation of China,Grant/Award Numbers:52375500,U22A20204,52305540;Jiangsu Provincial Key Research and Development Program,Grant/Award Number:BE2022078。

摘　　要：Having accurate values of the dynamic parameters is necessary to characterize the dynamic behaviors of mechanical systems and for the prediction of their responses.To accurately describe the dynamic characteristics of industrial robots(IRs),a new method for dynamic parameter identification is proposed in this study with the goal of developing a real IR dynamics model that combines the multibody system transfer matrix method(MSTMM)and the nondominated sorting genetic algorithm-II(NSGA-II).First,the multibody dynamics model of an IR is developed using the MSTMM,by which its frequency response function(FRF)is calculated numerically.Then,the experimental modal analysis is conducted to measure the IR's actual FRF.Finally,the objective function of the minimum errors between the calculated and measured eigenfrequencies and FRFs are constructed to identify the dynamic parameters of the IR by the NSGA-II algorithm.The simulated and experimental results illustrate the effectiveness of the methodology presented in this paper,which provides an alternative to the identification of IR dynamic parameters.

关 键 词：industrial robots multibody system transfer matrix method robotic machining dynamic parameter identification 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]