应用DDS方法辨识机器人振动的模态参数

IDENTIFICATION OF THE MODEL PARAMETERS OF ROBOT VIBRATION SYSTEM USING THE METHOD OF DYNAMIC DATA SYSTEM

本论文应用DDS方法将机器人振动系统的运动微分方程转换到一个自回归滑动平均(ARMA)模型.根据 ARMA 模型的性质,给出了ARMA模型的特征参数与机器人振动模型之间的关系,并通过Householder-OUSEHOLDER变换的最小二乘法.对机器人振动系统的模态参数进一步识别.

In this paper,the differential equations of motion for a robot vibration system are transformed into autore-gressive moving average(ARMA)model by using the method of dynamic data system.According to theproperties of ARMA model and the model parameters of the robot vibration system given,we use leastsquare method of Householder Shift to identify the model parameters of the system.