工业机器人动力学参数辨识及其模型建立

Identification of Dynamic Parameters and Model Establishment of Industrial Robots

针对机器人动力学特性影响机器人的控制性能问题,本文在构建可辨识的工业机器人动力学参数模型的基础上进行线性化整合,采用加权的最小二乘法精确辨识动力学的参数,以实现对动力学模型的精确构建。首先,对推导的工业机器人动力学方程表达式的参数进行线性化整合,得到线性的可辨识参数模型;其次,根据机器人结构获取D-H表,利用工具箱得到待优化的参数集,设定傅里叶级数激励轨迹,并对其进行优化;再次,在不带负载的状况下,工业机器人执行激励轨迹,获取机器人各关节角度和力矩信号,并进行滤波处理;最后,通过使用加权的最小二乘法精确辨识机器人的模型参数,得到动力学最小惯性参数集的值。通过验证轨迹比较分析,可检验辨识后模型的正确性。本文通过辨识算法以精确辨识工业机器人的动力学参数,更加精确地构建机器人的动力学模型,以便解决其动力学特征对工业机器人控制特性产生的影响。

In response to the issue of the impact of robot dynamics on the control performance of robots,this paper constructs an identifiable industrial robot dynamics parameter model and uses the weighted least squares method to accurately identify the dynamics parameters,achieving accurate construction of the dynamics model.Firstly,linearize and integrate the parameters of the derived industrial robot dynamics equation expression to obtain a linear identifiable parameter model.Secondly,the D-H table is obtained according to the robot structure,the parameter set to be optimized is obtained using the toolbox,and the Fourier series excitation trajectory is set and optimized.Once again,without a load,the industrial robot executes the excitation trajectory,obtains the angle and torque signals of each joint of the robot,and performs filtering processing;Finally,by using the weighted least squares method to accurately identify the model parameters of the robot,the data of the dynamic minimum inertia parameter set is obtained.By verifying trajectory comparison analysis,the correctness of the identified model can be verified.This article uses identification algorithms to accurately identify the dynamic parameters of industrial robots and construct a more accurate dynamic model of the robot,in order to address the impact of its dynamic characteristics on the control characteristics of industrial robots.