摘要
为提高机器人的运动精度和换向过程的运动平稳性,降低换向过程中因摩擦引起的位置误差和速度波动,文章提出了一种基于改进库伦+黏性摩擦模型的补偿方法。该改进模型引入sigmoid函数克服了传统库伦+黏性摩擦模型在换向过程中的不连续问题;并采用恒速辨识方法实现了摩擦模型参数的精确辨识;在此基础上,利用前馈补偿技术实现了机器人关节摩擦特性的补偿。实验结果表明,文中提出的辨识方法能够有效的辨识出摩擦模型参数和基于模型的补偿算法明显降低了换向过程中的摩擦误差。
In order to improve the motion accuracy of the robot and the motion stability in the commutation processes, and to reduce the position error and velocity fluctuation caused by friction during the commutation process, a compensation method based on the improved coulomb and viscous friction model is proposed in this paper. The sigmoid function is introduced to overcome the discontinuity of the traditional coulomb and viscous friction model in the commutation process.And the identification of constant speed method is used to realize the accurate identification of friction model parameters.On this basis,it realized the friction compensation of robot joints by using friction feedforward compensation technology.The experimental results show that the proposed identification method can effectively identify the parameters of friction model and the model-based compensation algorithm can significantly reduce the friction error in the commutation process.
作者
陶岳
赵飞
曹巨江
TAO Yue;ZHAO Fei;CAO Ju-jiang(College of Mechanical & Electrical Engineering, Shaanxi University of Science & Technology, Xi'an710021,China;School of Mechanical Engineering,Xir an Jiaotong University,Xi'an 710049,China)
出处
《组合机床与自动化加工技术》
北大核心
2019年第4期28-31,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
陕西省重点研发计划项目(2018ZDCXLGY0607)
关键词
机器人关节
摩擦
辨识
补偿
robot joints
friction
identification
compensation
