| 机器人惯性参数辨识的若干方法及进展 |
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| 引用本文： | 刘正士,陈恩伟,干方建. 机器人惯性参数辨识的若干方法及进展[J]. 合肥工业大学学报(自然科学版), 2005, 28(9): 998-1003 |
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| 作者姓名： | 刘正士 陈恩伟 干方建 |
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| 作者单位： | 1. 合肥工业大学机械与汽车工程学院,安徽合肥230009
2. 中国科学技术大学精密机械与精密仪器系,安徽合肥230052 |
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| 摘 要： | 当代机器人技术的发展对机器人动态特性提出了更高的要求,惯性参数是影响机器人动态特性的主要参数之一。文章回顾了当前辨识机器人惯性参数的各种方法,讨论了各种方法的优点和存在的问题;介绍了基于传感器信息的机器人惯性参数识别方面的研究进展;给出本文的小结和有待于进一步研究的课题。
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| 关 键 词： | 机器人 惯性参数 参数辨识 多轴力传感器 |
| 文章编号： | 1003-5060(2005)09-0998-07 |
| 修稿时间： | 2005-06-24 |
Review of some methods for identifying inertial parameters of robots and their development |
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| LIU Zheng-shi,CHEN En-wei,GAN Fang-jian. Review of some methods for identifying inertial parameters of robots and their development[J]. Journal of Hefei University of Technology(Natural Science), 2005, 28(9): 998-1003 |
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| Authors: | LIU Zheng-shi CHEN En-wei GAN Fang-jian |
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| Affiliation: | LIU Zheng-shi~1,CHEN En-wei~1,GAN Fang-jian~2 |
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| Abstract: | The development of the modern robot technology calls for better and better dynamic performance of robots,and the inertial parameters play an important part in the robot dynamic characteristics.In this paper,the methods of identifying robot inertial parameters are reviewed and their advantages and disadvantages are analyzed.The development of research on identification of inertial parameters of robots based on the signals of sensors is introduced.Some subjects which need to be investigated further are given. |
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| Keywords: | robot inertial parameter parameter identification multi-axis force sensor |
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