DH坐标系中重载机器人参数辨识的研究

Research on parameter identification of heavy-duty robot in DH coordinate system

基于整体辨识法,以500kg工业机器人为研究对象,对其进行惯性参数辨识研究。首先在DH坐标系中,通过拉格朗日法建立机器人动力学模型,并推导其关节力矩与惯性参数之间的线性关系,接着采用QR分解法重组惯性参数,得到一组可辨识的最小惯性参数,然后规划机器人参数辨识所需的激励轨迹,并在MATLAB中编写遗传算法对其进行优化,最后在Adams软件中进行仿真实验并进行参数估算。实验结果表明,此辨识方法对于采用DH法建系的机器人是正确且有效的。

Based on the overall identification method,the 500 kg industrial robot is taken as the research object,and the inertial parameter identification research is carried out.First,in the DH coordinate system,the robot dynamics model is established by the Lagrangian method,and the linear relationship between the joint moment and the inertial parameters is derived,and then the inertial parameters are reorganized by the QR decomposition method to obtain a set of identifiable minimum inertia parameters,and then plan the excitation trajectory required for robot parameter identification,and write genetic algorithm in MATLAB to optimize it,and finally perform simulation experiment and parameter estimation in Adams software.The experimental results show that the identification method is correct and effective for the robot using the DH method to establish the coordinate system.