| 基于能量模型的柔性关节机械臂参数辨识方法 |
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| 引用本文： | 王文辉.基于能量模型的柔性关节机械臂参数辨识方法[J].机械制造,2020,58(4):38-41,49. |
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| 作者姓名： | 王文辉 |
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| 作者单位： | 上海交通大学机械与动力工程学院 上海200240 |
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| 摘 要： | 对关节动力学模型和机械臂能量模型进行了介绍,基于能量模型,提出了柔性关节机械臂参数的辨识方法。这一方法通过建立能量输入与机械臂动力学参数的线性化关系,由最小二乘法实现参数辨识。应用这一方法在六自由度柔性关节机械臂上进行动力学参数辨识试验,验证了方法的有效性。
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| 关 键 词： | 柔性关节 机械臂 能量模型 参数辨识 |
Parameter Identification Approach of Flexible Joint Manipulator Based on Energy Model |
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| Wang Wenhui.Parameter Identification Approach of Flexible Joint Manipulator Based on Energy Model[J].Machinery,2020,58(4):38-41,49. |
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| Authors: | Wang Wenhui |
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| Abstract: | The dynamic model of the joint and the energy model of the manipulator were introduced.Based on the energy model,a method for identifying the parameters of the flexible joint manipulator was proposed.This method establishes a linearization relationship between the energy input and the dynamic parameters of the manipulator,and realizes parameter identification by the least square method.This method was used to perform dynamic parameter identification experiments on a 6 DOF flexible joint manipulator,which verified the effectiveness of the method. |
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| Keywords: | Flexible Joint Manipulator Energy Model Parameter Identification |
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