Method of Identifying Inertial Parameters of Manipulator Based on Wrist Force Sensor
CHEN En-wei1, LIU Zheng-shi1, GAN Fang-jian2
1. Institute of Sound and Vibration Engineering, School of Mechanical and Automotive Engineering, Hefei University of Technology, Hefei 230009, China; 2. Department of Modern Mechanics, University of Science and Technology of China, Hefei 230052, China
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. ROBOT, 2006, 28(2): 125-129..
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.
[1] 诸静.机器人与控制技术[M].杭州;浙江大学出版社,1991. [2] 孙昌国,马香峰,谭吉林.机器人操作器惯性参数的计算[J].机器人,1990,12(2);19-24. [3] Lio M D,Doria A,Lot R.A spatial mechanism for the measurement of the inertia tensor;theory and experimental results[J].Journal of Dynamic Systems,Measurement,and Control,1999,121;111-116. [4] Fregolent A,Sestieri A.Identification of rigid body inertia properties from experimental frequency response[A].Proceedings of the 10th International Modal Analysis Conference[C].San Diego,California;1992.219-225. [5] 王树新,张海根,黄铁球,等.机器人动力学参数辨识方法的研究[J].机械工程学报,1999,35(1);23-26. [6] Khalil W,Bennis F.Comments on ‘direct calculation of minimum set of inertial parameters of serial robots'[J].IEEE Transactions on Robotics and Automation,1994,10(1);78-79. [7] Lin S K.Minimal linear combinations of the inertial parameters of a manipulator[J].IEEE Transactions on Robotics and Automation,1995,11(3);360-373. [8] 干方建.基于多维力传感器的机器人动态特性若干问题的研究[D].合肥;合肥工业大学,2003. [9] 熊有伦.机器人技术基础[M].武汉;华中理工大学出版社,1996.