陈恩伟, 刘正士, 干方建. 基于腕力传感器的机器人操作臂惯性参数辨识方法[J]. 机器人, 2006, 28(2): 125-129.
引用本文: 陈恩伟, 刘正士, 干方建. 基于腕力传感器的机器人操作臂惯性参数辨识方法[J]. 机器人, 2006, 28(2): 125-129.
CHEN En-wei, LIU Zheng-shi, GAN Fang-jian. Method of Identifying Inertial Parameters of Manipulator Based on Wrist Force Sensor[J]. ROBOT, 2006, 28(2): 125-129.
Citation: CHEN En-wei, LIU Zheng-shi, GAN Fang-jian. Method of Identifying Inertial Parameters of Manipulator Based on Wrist Force Sensor[J]. ROBOT, 2006, 28(2): 125-129.

基于腕力传感器的机器人操作臂惯性参数辨识方法

Method of Identifying Inertial Parameters of Manipulator Based on Wrist Force Sensor

  • 摘要: 针对工业机器人结构设计及动力控制中,在比现有方法少用了基座力传感器的基础上,充分挖掘了腕力传感器的信息,利用机械臂运动学及动力学递推关系,由Newton-Euler方程导出了各连杆惯性参数逆向的辨识模型.以一个算例说明了方法的运用,为机器人操作臂动力学建模提供了理论基础.

     

    Abstract: For structure design and dynamic control of industrial robots,without using the base force sensor that is required in existing methods,a method is proposed that takes full advantage of the signals from wrist force sensor,applies the recursion equations of kinematics and dynamics,and deduces the converse inertial parameters identification model of all links by Newton-Euler formula.An example is given to explain the application of the method.The theoretical basis is offered for dynamic modeling of manipulator.

     

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