摘要
为了能更为合理、准确地辨识出机电结构系统结合面的等效动力学参数,提出了基于模糊优化的辨识方法。以9自由度模块化冗余机器人为研究对象,采用模糊优化方法辨识了机器人关节面等效动力学参数,并利用所识别的参数及机器人各部件有限元模型建立了机器人整机动力学模型,该模型的模态参数与试验结果具有较好的一致性,表明所提出的辨识方法具有较高的辨识精度,是合理和可行的。
In order to identify the joint equivalent dynamic parameters of the mechanic-electronic structural system reasonably and precisely, a fuzzy method is presented. The 9 DOFs modular redundant robot is taken as the researched object, and its joint equivalent dynamic parameters are identified. The dynamic model of the robot is obtained by using these identified joint parameters and the finite element models of the modules of the robot. The comparison between the analytical model with the experimental results shows the presented method is reasonable and effective.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2003年第4期66-70,共5页
Journal of Mechanical Engineering
基金
澳门大学研究基金资助项目(RG025/00-01S/LYM/FST)
