一种仿人机器人臂的重力补偿研究

Experimental Research on Gravity Compensation for Humanoid Robot Arm

为了对7自由度握手机器人臂进行重力补偿,提出了基于最小二乘法的机器人臂动力学参数识别方法。首先,推导了该机器人臂各关节转矩的重力项理论计算公式;其次,对基于最小二乘法原理的参数识别方法进行详细分析;最后,利用该方法对机器人臂各连杆进行了参数识别试验。试验表明:依靠该方法进行参数识别后的重力项计算值和实测值基本上是一致的,能够用于机器人臂的重力补偿计算。

In order to make gravity compensation,a dynamics parameter identification based on least square method is proposed and applied to 7 DOF handshaking robot arm. Firstly,computational formula in theory is deduced on each of joint torque for the robot arm. Secondly,parameter identification based on least square method is analyzed in details. Lastly,parameter identification experiments on every link of robot arm are carried out by making use of it. Experiment results show that calculation value after using the parameter identification method is basically coincident with measured value,and it can be used to make gravity compensation for robot arm.