基于基座力传感器机器人连杆惯性参数识别

Inertial Parameters Identifying of Robot Links based on Base Force Sensor

基于机器人基座力传感器的输出信号,探讨了一种利用牛顿—欧拉动力学递推方程识别机器人连杆惯性参数的方法。通过理论推导,阐述了利用该方法识别机器人连杆惯性参数的求解思路与步骤;作为该方法的简化与补充,探讨了利用连杆的重力作用识别连杆质量及其质心三维坐标的静态识别方法。进行仿真计算,验证了该方法的正确性。使用上述方法识别的机器人连杆惯性参数包含了机器人的关节特性,进行动力学建模时无需再对机器人的关节特性建模。

It is dealt with a method of inertial parameters identifying of robot links based on base force sensor. 1) According to Newton-Euler formula, steps of the method are put forward, and for the reason of simplification, a static method of identifying the mass and the three-dimensional coordinates of links' mass center is investigated. 2) A simulation of a two links' robot shows that the method is effective. The inertial parameters obtained by using the given method include the joint's characteristics of robot ,so the joint's characteristics modeling is doesn't needed.