[1]朱成耀,张 波.改进的动力学参数迭代辨识方法[J].机械与电子,2022,(07):75-80.
　ZHU Chengyao,ZHANG Bo.An Improved Iterative Method for Dynamic Parameters Identification[J].Machinery & Electronics,2022,(07):75-80.
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改进的动力学参数迭代辨识方法()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2022年07期
页码:
75-80
栏目:
智能工程
出版日期:
2022-07-28

文章信息/Info

Title:
An Improved Iterative Method for Dynamic Parameters Identification
文章编号:
1001-2257 ( 2022 ) 07-0075-06
作者:
朱成耀; 张 波
上海交通大学机械与动力工程学院,上海 200240
Author(s):
ZHU Chengyao ;  ZHANG Bo
( School of Mechanical Engineering , Shanghai Jiao Tong University , Shanghai 200240 , China )
关键词:
协作机器人; 动力学参数辨识; 迭代; F 统计量
Keywords:
collaborative robot ;  dynamic parameter identification ;  iteration ;  F statistic
分类号:
TP242
文献标志码:
A
摘要:
迭代的辨识方法考虑了物理可行性约束、异常采样数据的去除和更符合实际的摩擦模型,因此可以获得更准确的动力学参数。针对需要辨识的参数多导致迭代时间成本高的问题,提出一种改进的动力学参数迭代辨识方法,通过引入 F 统计量剔除对机器人关节力矩几乎没有贡献的参数,降低迭代中需要辨识的参数的维度,以减少辨识时间、提高辨识效率。实验结果表明,在 Chin7 机器人上,该方法能在不影响力矩计算精度的前提下将辨识的计算时间减少 45% 。
Abstract:
Considering physical feasibility constraints , eliminating abnormal sampling data and building a more realistic friction model , the iterative identification method can help obtain more accurate dynamic parameters.Aiming at the problem of high iteration time cost caused by multiple parameters to be identified , in this paper , an improved iterative identification method is proposed.By introducing F-statistic , the parameters which contribute little to the joint torque of the robot are eliminated , so the dimension of the parameters in the iteration is reduced , which save the identification time and improve the identification efficiency.The experimental results show that on the Chin7 robot , the method can reduce the calculation time of identification by 45% without affecting the accuracy of torque calculation.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2022-01-12
作者简介:朱成耀 ( 1997- ),男,安徽六安人,硕士研究生,研究方向为机器人动力学;张 波 ( 1977- ),男,河南驻马店人,博士,副教授,博士研究生导师,研究方向为柔顺机器人和精密伺服驱动与控制。
更新日期/Last Update: 2022-08-25