运动状态下柔性关节机器人关节面参数辨识研究

庄未;刘晓平

振动与冲击 ›› 2010, Vol. 29 ›› Issue (4) : 17-21,3.

PDF(1827 KB)
PDF(1827 KB)
振动与冲击 ›› 2010, Vol. 29 ›› Issue (4) : 17-21,3.
论文

运动状态下柔性关节机器人关节面参数辨识研究

  • 庄未;刘晓平
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Joint Parameters Identification of Flexible Joint Robot under Movement

  • ZHUANG Wei;LIU Xiao-ping
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摘要


针对柔性关节机器人系统,提出了一种机构系统运动状态下关节面参数辨识的新方法。首先,将机器人柔性关节等效为弹性扭转轴,将应用于结构中的行波分析方法与机器人关节旋转变换矩阵相结合,建立机构系统的波导方程;其次,根据系统各结点力平衡与位移边界条件,建立运动状态下系统环境预测模型,并根据预测出的系统激励以及实验测得的关节扭转角等因素,建立系统振动方程;再次,利用最小二乘法对上述模型进行求解,推导出关节动态刚度和阻尼;最后,以两种不同的运动轨迹驱动3自由度机械臂,对其进行辨识实验研究。实验结果表明,该辨识方法是有效的,为后续系统的动态控制提供了重要参考。



Abstract

A new approach to identify joint parameters of the flexible joint robot under movement was presented. Firstly, taking a flexible joint as an elastic twist axis, and combining wave theory of structures with rotated transform matrix of joint, wave equations of mechanism were established. Secondly, considering general force balance and displacement boundary of each joint, environmental prediction model of system in moving states was deduced. Furthermore, vibration equations were gained according to the predicted actuators and vibration angles. Thirdly, joint dynamic stiffness and damping were deduced after solving the former model by use of least square method (LSM). Finally, parameters identification experiments of a 3-DOF manipulator were done under two different trajectories. The experimental result shows that the approach is effective and it can provide the reference to the further dynamic control.

关键词

机器人 / 柔性关节 / 波传播法 / 参数辨识

Key words

robot / flexible joint / wave propagation / parameters identification

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导出引用
庄未;刘晓平. 运动状态下柔性关节机器人关节面参数辨识研究[J]. 振动与冲击, 2010, 29(4): 17-21,3
ZHUANG Wei;LIU Xiao-ping. Joint Parameters Identification of Flexible Joint Robot under Movement[J]. Journal of Vibration and Shock, 2010, 29(4): 17-21,3

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