球面二自由度冗余驱动并联机器人系统动力学参数辨识及控制

中国机械工程

球面二自由度冗余驱动并联机器人系统动力学参数辨识及控制

李永泉1,2;吴鹏涛1,2;张阳1,2;张立杰2,3

1.燕山大学河北省并联机器人与机电系统实验室，秦皇岛，066004
2.燕山大学先进锻压成形技术与科学教育部重点实验室，秦皇岛，066004
3.燕山大学河北省重型机械流体动力传输与控制实验室，秦皇岛，066004

出版日期:2019-08-25 发布日期:2019-08-27
基金资助:
国家自然科学基金资助项目(51405421)；
河北省自然科学基金资助项目(E2015203101)

Dynamics Parameter Identification and Control of a Spherical 2-DOF Redundant Driven Parallel Robot System

LI Yongquan1,2;WU Pengtao1,2;ZHANG Yang1,2 ;ZHANG Lijie2,3

1.Parallel Robot and Mechatronic System Laboratory of Hebei Province,Yanshan University,Qinhuangdao，Hebei,066004
2.Key Laboratory of Advanced Forging & Stamping Technology and Science，Ministry of Education，Yanshan University,Qinhuangdao，Hebei,066004
3.Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control,Yanshan University,Qinhuangdao，Hebei,066004

Online:2019-08-25 Published:2019-08-27

摘要/Abstract

摘要： 以伺服电机驱动的球面2-DOF冗余驱动并联机器人为研究对象，首先，建立了机构惯性参数辨识模型，并规划了惯性参数辨识轨迹；其次，建立了机构运动副摩擦参数辨识模型和驱动系统的摩擦参数辨识模型，分别分析了二者的辨识原理，并规划了摩擦参数辨识轨迹；再次，通过辨识实验得到了机构惯性参数、机构转动副摩擦参数和驱动系统摩擦参数的辨识结果，利用辨识结果对原机构参数进行修正，获得了更为准确的机器人系统动力学模型，并通过轨迹测试实验，对辨识结果进行了验证；最后，制定了基于机器人系统动力学模型的前馈控制策略，与传统的机构运动学闭环控制策略进行实验对比，验证了该控制策略的可行性。

关键词: 并联机构, 动力学参数辨识, 惯性参数, 摩擦参数, 控制策略

Abstract: A spherical 2-DOF redundant drive parallel robot driven by servo motor was the research object.Firstly,the inertia parameter identification model of the mechanisms was established,and the inertial parameter identification trajectory was programmed.Secondly,the friction parameter identification model of the mechanism pairs and the friction parameter identification model of the driving system were established,and their identification principles were analyzed respectively.The trajectory of friction parameter identification was also programmed.Thirdly,through the identification experiments,the mechanism inertia parameters,the mechanism rotation pair friction parameters and the driving system friction parameter identification results were obtained,the original mechanism parameters were modified by the identification results,a more accurate robot system dynamics model was obtained,and the identification results were validated by the trajectory test experiments.Finally,a feed forward control strategy was developed based on the dynamics model of the robot system and compared with the traditional mechanism kinematics closed-loop control strategy.The feasibility of this control strategy was proved.

Key words: parallel mechanism, dynamis parameter identification, inertia parameter, friction parameter, control strategy

中图分类号:

TH112

李永泉1,2;吴鹏涛1,2;张阳1,2;张立杰2,3. 球面二自由度冗余驱动并联机器人系统动力学参数辨识及控制[J]. 中国机械工程.

LI Yongquan1,2;WU Pengtao1,2;ZHANG Yang1,2 ;ZHANG Lijie2,3. Dynamics Parameter Identification and Control of a Spherical 2-DOF Redundant Driven Parallel Robot System[J]. China Mechanical Engineering.

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