Abstract:

Based on the linkage-assemblies method, a novel dynamics parameters identification method was presented aiming at obtaining the dynamics parameter values indepent of the suffering loads. All the indepent values of paramaters can be obtained during the identification process of keeping several joints actuated while the rests were locked in a certain method and sequence. Robot dynamics parameter identification program were compiled to calculate the dynamics parameters of a certain industrial robot. The results indicate that all the independent values of parameters can be obtained by this method, and most of them has an ideal accuracy. The low accuracy of few parameters is due to their small contribution to the torque, and when the data is affected by the noise, their information will be submerged. The torque values computed by this novel method are highly close to the the ideal robot controlling values, which indicates the feasibility of this method.

Key words: articulated robot, inertia parameter, parameter identification, linkage-assemblies method

摘要：

为获得不受负载影响的机器人动力学参数的独立值，采用连接组合体方法辨识机器人动力学参数，即辨识时按照一定的方式及次序锁定其他关节，每次仅让某几个关节运动，从而辨识出全部参数的独立值。编写了机器人动力学参数辨识程序，对某确定工业机器人进行了动力学参数辨识计算。结果表明：该方法能够获得独立的机器人动力学参数;绝大多数参数能够获得理想的辨识精度;受噪声影响，部分参数辨识结果与理想值差距较大，原因在于这些参数对力矩的贡献很小，在噪声存在的情况下，其信息被淹没;基于辨识结果的力矩计算结果与机器人控制理想力矩具有很高的吻合度，验证了该方法的正确性。

关键词: 关节型机器人, 惯量参数, 参数辨识, 连接组合体法