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考虑关节柔性的模块机器人动力学参数辨识
  • 摘要

    提出了一种基于3维运动测量系统Optotrak3020的柔性关节模块机器人动力学模型参数辨识方法.首先将机器人的动力学模型参数化为不包括刚度力矩的线性形式,避免了参数矩阵的标定问题.激励轨迹基于有限的傅里叶级数函数,采用自适应遗传算法得出了优化的傅里叶级数系数.机器人每一关节单独跟随优化激励轨迹进行运动,同时电机位置、连杆位置、电机力矩被实时测量并记录.最后,采用经典的线性最小二乘参数辨识方法,对PowerCube模块化机器人的前3个关节进行了动力学参数辨识实验,得出了机器人动力学模型参数.

  • 作者

    周军  余跃庆  ZHOU Jun  YU Yueqing 

  • 作者单位

    北京工业大学机械工程与应用电子技术学院,北京,100124

  • 刊期

    2011年4期 ISTIC EI PKU

  • 关键词

    柔性关节机器人  参数辨识  Optotrak3020  最小二乘法 

参考文献
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