一种带负载工业机器人动力学模型辨识方法

Dynamical Model Identification for Industrial Robot with Payload

针对带负载工况下六自由度关节型工业机器人动力学模型的辨识问题,提出了一种带负载机器动力学模型的参数辨识方法。在获得机器人本体动力学模型的前提下,用Newton-Euler法建立负载动力学模型进行补偿,设计激励轨迹获取负载贡献的力矩,然后用加权最小二乘法辨识出负载模型中未知参数。最后对得到的带负载完整机器人动力学模型进行验证与分析,结果表明通过辨识得到的预测力矩与测量力矩有较好的跟随性,所提出的辨识方法具有一定的工程参考价值。

Aiming at the dynamical model identification for the industrial robots with payload,a novel identified method is proposed.Based on the original dynamical model the payload model is built through Newton-Euler method to compensate the original model.Fourier series is designed as exciting trajectory and the weighted least square method is used to identify the unknown parameters in the model.Finally,the established model is validated and analyzed,and all the results show that predicted torques and measured torques match well.