Improved identification method of robot dynamic parameter
To solve the problem of excitation trajectory design in the six-axis robot dynamic parameter identification,the improved differential evolution(IDE)algorithm was proposed to optimize the excitation trajectory parameters.The dynamic model of the six-axis robot was established by Newton-Euler iteration method,and the condition number of the minimum inertia parameter observation matrix was taken as optimization objective function.By improving the differential evolution algorithm,the inverse optimal worst strategy was introduced to improve the initial value of the population,and the adaptive algorithm was used to improve the mutation factor and crossover factor.The improved differential evolution algorithm was used to optimize and design the Fourier series for meeting the constraints of robot and as excitation trajectory for identifying the parameters of robot.The experimental results show that the excitation trajectory designed by the proposed optimization method can give full play to the dynamic characteristics of robot and improve the anti noise ability of robot dynamic parameter identification experiment,which can provide foundation for establishing accurate robot dynamic model.
万方数据
维普
