基于随机数的多关节机械臂最小动力学参数集的分析研究

Research on minimum dynamic parameter set of multi-joint manipulator based on random number

文章以多关节机械臂为例分析动力学参数的简化关系,基于动力学参数辨识的需求,提出利用随机数确定机械臂最小动力学参数集的方法,并采用MDH(modified Denavit-Hartenberg)方法,建立多关节机械臂的运动学模型;基于递归牛顿欧拉法,建立考虑关节摩擦和电机转动惯量影响的动力学模型;利用随机数模拟运动学参数,设计了变换矩阵,对动力学参数的回归矩阵进行列变换,借助符号和数值计算确定多关节机械臂的最小动力学参数集合,为进一步提升多关节机械臂动力学性能奠定了基础。

Employing the multi-joint manipulator as an example,this paper analyzes the simplified relationship of dynamic parameters based on the need of dynamic parameter identification,and proposes the method for obtaining the minimum dynamic parameter set of manipulator based on random number.The kinematic model and the dynamic model of multi-joint manipulator considering the influence of friction in joint and inertia moment of motor are established by using modified Denavit-Hartenberg(MDH)method and the recursive Newton-Euler method respectively.Random numbers are used to simulate the kinematic parameters to design the transformation matrix,and the column transformation of the regression matrix of the dynamic parameters is performed.With the help of symbol and numerical calculation,the minimum dynamic parameter set of multi-joint manipulator is determined,providing the basis for further improvement of dynamic performance of multi-joint manipulator.