一种六自由度机械手动态参数辨识的研究
Research on Dynamic Parameter Identification of a 6-DOF Manipulator
祁晓玲 1张晓华2
作者信息
- 1. 山西铁道职业技术学院,山西 太原 030013
- 2. 中北大学机械工程学院,山西 太原 030013
- 折叠
摘要
针对六自由度机械手动态参数的辨识,提出了一种用于动态参数识别的激励轨迹优化方法.采用逆动力学模型和最小二乘(LS)估计方法估计机械臂的动态参数,通过改进型的傅里叶级数产生持久的激励轨迹,在保留基本动力学参数的基础上,利用Hadamard不等式对动态参数进行估计,简化了优化过程的计算时间.通过对六自由度TX-90机器人进行了模型验证,利用扭矩预测精度验证了动力学参数的可靠性,并与现有方法进行了比较,结果表明所提方法的预测均方根误差较小,优化计算时间得到大幅度减少.
Abstract
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.
关键词
动态参数辨识/轨迹优化/六自由度机械手/Hadamard不等式Key words
Dynamic Parameter Identification/Trajectory Optimization/6-DOF Manipulator/Hadamard Inequality引用本文复制引用
基金项目
2021年山西省教育科学"十四五"规划项目(GH-21298)
山西省高等学校重点科研项目(19B520125)
出版年
2023
NETL
NSTL
维普
万方数据