| 工业机器人动力学模型参数辨识的新方法 |
| |
| 引用本文： | 刘德满,刘宗富.工业机器人动力学模型参数辨识的新方法[J].东北大学学报(自然科学版),1993(1). |
| |
| 作者姓名： | 刘德满 刘宗富 |
| |
| 作者单位： | 东北工学院自动控制系
(刘德满)，东北工学院自动控制系(刘宗富) |
| |
| 摘 要： | 通过让机器人各关节静止,逐个让单个关节恒速运行和逐个让单个关节恒加速运行而让其它关节固定不动的3组实验全部辨识出工业机器人的动力学参数。这种辨识方法既考虑了关节力矩传递机构的影响又考虑了驱动电机特性参数的影响,因此是一种实用的辨识方法。
|
| 关 键 词： | 工业机器人 动力学 参数辨识 恒速运行 驱动器 |
A New Method for Parameter Recognition in Dynamic Model of SGR Robots |
| |
| Liu Deman,Liu Zongfu.A New Method for Parameter Recognition in Dynamic Model of SGR Robots[J].Journal of Northeastern University(Natural Science),1993(1). |
| |
| Authors: | Liu Deman Liu Zongfu |
| |
| Abstract: | A new method was developed available to the recognition of all dynamic parameters of a SGR robot. Three groups of experiments were carried out the way every single articulated joint is operated at constant velocity one by one and at constant acceleration also one by one with all other joints kept fixed while only a single one is operated. In this way,not only the influence of such torque transmission mechanisions as chains and gears of articulated joints but that of such characteristic parameters as BEMF,resistance and inductance of motors are taken into consideration. So,it is really a practical method. |
| |
| Keywords: | SGR robot dynamics parameter recognition constant velocity actuator |
| 本文献已被 CNKI 等数据库收录！ |
