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요약정보
基于六维力传感器的机器人动力学参数辨识 / Dynamic Parameter Identification of Robot Based on Base Six-dimensional Force Sensor
Resource Type
Academic Journal
Authors
江王磊
;
高海涛
;
茅新宇
;
陈浩栋
;
JIANG Wanglei
;
GAO Haitao
;
MAO Xinyu
;
CHEN Haodong
Source
机械与电子 / Machinery & Electronics
. 41(4):71-80
Subject
机器人
基座
六维力传感器
参数辨识
Language
Chinese
ISSN
1001-2257
Online Access
Find it @ DONGA
초록
采用基座布置六维力传感器的方式进行机器人动力学参数辨识.以递推牛顿-欧拉方程为基础建立机器人动力学模型,给出六维力传感器输出与机器人关节间动力学关系,分离待辨识动力学参数并确定其最小惯性参数集,最终建立基于基座六维力传感器的机器人辨识模型.为了进一步提高辨识精度,采用两层低通滤波算法推导出加速度替代公式和速度滤波算法,减少加速度和速度噪声的影响.最后,以六自由度协作机器人的前2个关节为对象,设计辨识实验,获得两关节的最小动力学参数集.通过结果逆向验算表明,基座布置六维力传感器方式能以较高的精度辨识出机器人动力学参数.
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