| 基于最优激励轨迹的RRR机械臂动力学参数辨识 |
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| 引用本文： | 娄玉冰,王东署. 基于最优激励轨迹的RRR机械臂动力学参数辨识[J]. 郑州大学学报(理学版), 2011, 0(3) |
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| 作者姓名： | 娄玉冰 王东署 |
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| 作者单位： | 郑州大学电气工程学院; |
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| 基金项目： | 河南省教育厅自然科学基金资助项目,编号2008A510015,2010B510019 |
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| 摘 要： | 机器人动力学参数的精确辨识是对机器人进行精确控制的前提,参数辨识的精度与所采用的标定轨迹直接相关.以RRR机械臂为研究对象,建立该机械臂的动力学模型.在动力学参数辨识时,选择有穷傅里叶级数做为最优激励轨迹的表达式,通过最小化退化矩阵的条件数来获得最优激励轨迹中的参数,同时把各关节位置、速度和加速度的物理约束与激励轨迹结合起来,使获得的最优激励轨迹在物理意义上是可行的.通过在激励轨迹中指定频率范围来避免激励机器人的柔性特性,利用最小二乘法来辨识动力学参数.最后仿真验证了该辨识方法的有效性.
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| 关 键 词： | 最优激励轨迹 参数辨识 RRR机械臂 条件数 |
Dynamic Parameter Identification of RRR-Robotic Arm Based on Optimal Exciting Trajectory |
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| LOU Yu-bing,WANG Dong-shu. Dynamic Parameter Identification of RRR-Robotic Arm Based on Optimal Exciting Trajectory[J]. Journal of Zhengzhou University(Natrual Science Edition), 2011, 0(3) |
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| Authors: | LOU Yu-bing WANG Dong-shu |
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| Affiliation: | LOU Yu-bing,WANG Dong-shu(School of Electrical Engineering,Zhengzhou University,Zhengzhou 450001,China) |
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| Abstract: | Dynamic parameter identification of robot was a precondition for the accurate control of robot,and its precision was directly related to the trajectory chosen.The model of RRR robot dynamics was established.A finite Fourier series was chosen to be the exciting trajectory for each joint.Minimizing condition number of the regression matrix was chosen to be performance index of the exciting trajectory.The exciting trajectory was combined with the limits for positions,speeds and accelerations of each joint.The ... |
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| Keywords: | optimal exciting trajectory parameters identification RRR-robotic arm condition number |
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