基于六维力传感器的机器人动力学参数辨识

Dynamic Parameter Identification of Robot Based on Base Six-dimensional Force Sensor

采用基座布置六维力传感器的方式进行机器人动力学参数辨识。以递推牛顿-欧拉方程为基础建立机器人动力学模型,给出六维力传感器输出与机器人关节间动力学关系,分离待辨识动力学参数并确定其最小惯性参数集,最终建立基于基座六维力传感器的机器人辨识模型。为了进一步提高辨识精度,采用两层低通滤波算法推导出加速度替代公式和速度滤波算法,减少加速度和速度噪声的影响。最后,以六自由度协作机器人的前2个关节为对象,设计辨识实验,获得两关节的最小动力学参数集。通过结果逆向验算表明,基座布置六维力传感器方式能以较高的精度辨识出机器人动力学参数。

The six-dimensional force sensor is arranged on the base to identify the dynamic parameters of the robot.The robot dynamics model is established bzaz ased on the recursive Newton-Euler equation,the dynamic relationship between the output of the six-dimensional force sensor and the robot joints is given,the dynamic parameters to be identified are separated and the minimum inertial parameter set is determined,and finally a robot identification model based on the base six-dimensional force sensor is established.In order to further improve the identification accuracy,the acceleration substitution formula and velocity filtering algorithm derived from the two-layer low-pass filtering algorithm are used to reduce the influence of acceleration and velocity noise.Finally,taking the first two joints of the six-degree-of-freedom collaborative robot as the object,an identification experiment is designed to solve the minimum dynamic parameter set of the two joints.The reverse checking of the results shows that the six-dimensional force sensor on the base can identify the dynamic parameters of the robot with high accuracy.