机器人系统中环境动力学模型及其参数辨识

Dynamic model of environment and its parameters identification in robot systems

根据机器人系统中环境的本质特征 ,本文提出了环境动力学既有刚体运动动力学特性 ,又有表面形变动力学特性的观点 ;由此建立了新的环境动力学模型 ,给出了该动力学模型参数辨识的遗传算法模型 .理论分析和实验研究表明该模型及其参数辨识方法是实用的、可行的 .

Based on the essential feature of environments in robot systems, this paper presents an idea that environment dynamics possesses both characters of kinetic dynamics and surface deformation dynamics of rigid body. A dynamic model of environment was built and a genetic algorithm model for its parameter identification was given. Theoretical analysis and experimental research show that the model and the parameter identification methods are practical and feasible.