周军, 余跃庆. 考虑关节柔性的模块机器人动力学参数辨识[J]. 机器人, 2011, 33(4): 440-448.
引用本文: 周军, 余跃庆. 考虑关节柔性的模块机器人动力学参数辨识[J]. 机器人, 2011, 33(4): 440-448.
ZHOU Jun, YU Yueqing. Dynamic Parameter Identification of Modular Robot with Flexible Joints[J]. ROBOT, 2011, 33(4): 440-448.
Citation: ZHOU Jun, YU Yueqing. Dynamic Parameter Identification of Modular Robot with Flexible Joints[J]. ROBOT, 2011, 33(4): 440-448.

考虑关节柔性的模块机器人动力学参数辨识

Dynamic Parameter Identification of Modular Robot with Flexible Joints

  • 摘要: 提出了一种基于3维运动测量系统Optotrak3020的柔性关节模块机器人动力学模型参数辨识方法.首先将机器人的动力学模型参数化为不包括刚度力矩的线性形式,避免了参数矩阵的标定问题.激励轨迹基于有限的傅里叶级数函数,采用自适应遗传算法得出了优化的傅里叶级数系数.机器人每一关节单独跟随优化激励轨迹进行运动,同时电机位置、连杆位置、电机力矩被实时测量并记录.最后,采用经典的线性最小二乘参数辨识方法,对PowerCube模块化机器人的前3个关节进行了动力学参数辨识实验,得出了机器人动力学模型参数.

     

    Abstract: A method to identify the dynamic model parameters of modular robot with flexible joint using 3D motion measurement system Optotrak3020 is proposed.Firstly,the robot dynamics model is parameterized in a linear form to exclude the stiffness torque and the scaling problem is eliminated from the parameter matrix.The exciting trajectory is based on the finite Fourier series function and the coefficients of the Fourier series are optimized with the self-adaptive genetic algorithm.When each joint of robot is commanded to follow the single-joint optimized exciting trajectory,the motor position,link position and motor torque are measured and recorded in real time.Finally,using the classic linear least square parameter identification,the dynamic parameter identification experiment is carried out on the first three joints of PowerCube modular robot,and parameters of robot dynamic model are derived.

     

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