• CN:11-2187/TH
  • ISSN:0577-6686

›› 1999, Vol. 35 ›› Issue (1): 23-26.

• 论文 • 上一篇    下一篇

机器人动力学参数辨识方法的研究

王树新;张海根;黄铁球;刘又午   

  1. 天津大学机械工程学院
  • 发布日期:1999-01-01

STUDY ON DYNAMIC PARAMETER IDENTIFICATION OF ROBOT

Wang Shuxin;Zhang Haigen;Huang Tieqiu;Liu Youwu   

  1. Tianjin University
  • Published:1999-01-01

摘要: 在不解体情况下,采用CAD方法计算各动力学参数值,基于多体系统动力学模型及PUMA机器人单关节运动试验结果修正相应动力学参数,并考虑各关节摩擦与阻尼特性。通过PUMA机器人各臂联动试验验证辨识参数的正确性。

关键词: 参数辨识, 动力学, 多体系统, 机器人

Abstract: The parameter identification of robot is investigated. The CAD method is used to obtain the dynamic parameters of PUMA 760 robot. Based on the theory of multibody system and experiments, these parameters are modified and the dynamic characteristics of the joints is included during the dynamic calculation. The identified results are verified by the experiments.

Key words: Dynamics, Parameter identification Multibody system, Robot

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