Research on Dynamic Parameter Identification of a 6-DOF Manipulator
Aiming at the dynamic parameter identification of 6-DOF manipulator,an excitation trajectory optimization method for dynamic parameter identification is proposed.The inverse dynamic model and least square(LS)estimation method are used to estimate the dynamic parameters of the manipulator.The persistent excitation trajectory is generated by the improved Fourier se-ries.On the basis of retaining the basic dynamic parameters,the dynamic parameters are estimated by Hadamard inequality,which simplifies the calculation time of the optimization process.Through the model verification of the six degree of freedom TX-90 robot,the reliability of the dynamic parameters is verified by using the torque prediction accuracy,and compared with the ex-isting methods.The results show that the prediction root mean square error of the proposed method is small,and the optimization calculation time is greatly reduced.
NETL
NSTL
万方数据
维普
