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为了辨识具有谐波减速器的柔性关节模型的关键参数,设计了一套基于多传感器融合的离线辨识方法,根据电机的位置传感器、电流传感器和关节力矩传感器的实验数据完成柔性关节模型关键参数的辨识.首先,建立采用谐波减速器柔轮输出的柔性关节模型;然后,使用正反转加载力矩的方法辨识出电机的力矩系数;并在空载的情况下,由关节力矩和电机输出力矩分别辨识出关节端和电机端的摩擦力;最后,采用敲击法初步辨识出关节的刚度和阻尼后,在关节位置受限条件下,逐渐增加电机输出力矩,得到柔性关节刚度和关节力矩的非线性关系.多次实验的结果显示,辨识出的参数具有较高的重复性,验证了该方法的有效性. 相似文献
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Dynamic surface control-backstepping based impedance control for 5-DOF flexible joint robots 总被引:1,自引:0,他引:1
A new impedance controller based on the dynamic surface control-backstepping technique to actualize the anticipant dynamic
relationship between the motion of end-effector and the external torques was presented. Comparing with the traditional backstepping
method that has “explosion of terms” problem, the new proposed control system is a combination of the dynamic surface control
technique and the backstepping. The dynamic surface control (DSC) technique can resolve the “explosion of terms” problem that
is caused by differential coefficient calculation in the model, and the problem can bring a complexity that will cause the
backstepping method hardly to be applied to the practical application, especially to the multi-joint robot. Finally, the validity
of the method was proved in the laboratory environment that was set up on the 5-DOF (degree of freedom) flexible joint robot.
Tracking errors of DSC-backstepping impedance control that were 2.0 and 1.5 mm are better than those of backstepping impedance
control which were 3.5 and 2.5 mm in directions X, Y in free space, respectively. And the anticipant Cartesian impedance behavior and compliant behavior were achieved successfully
as depicted theoretically. 相似文献
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谢宗武 《哈尔滨工业大学学报》2009,41(5)
采用基于所提出的连续比例因子的梯度投影法,利用模糊推理规则动态求解了多性能指标融合中的权系数,对卫星在轨自维护系统的冗余度机器人推拉帆板作业进行了数值仿真计算。所得到的结果与采用固定比例因子的梯度投影法进行了比较,指出了采用固定比例因子方法的不足之处。实验结果验证了所提出的连续比例因子方法的可行性,为冗余自由度机器人的逆运动学解法提供了新思路。 相似文献
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An optimal measurement pose number searching method was designed to improve the pose selection method. Several optimal robot
measurement configurations were added to an initial pre-selected optimal configuration set to establish a new configuration
set for robot calibration one by one. The root mean squares (RMS) of the errors of each end-effector poses after being calibrated
by these configuration sets were calculated. The optimal number of the configuration set corresponding to the least RMS of
pose error was then obtained. Calibration based on those poses selected by this algorithm can get higher end-effector accuracy,
meanwhile consumes less time. An optimal pose set including optimal 25 measurement configurations is found during the simulation.
Tracking errors after calibration by using these poses are 1.54, 1.61 and 0.86 mm, and better than those before calibration
which are 7.79, 7.62 and 8.29 mm, even better than those calibrated by the random method which are 2.22, 2.35 and 1.69 mm
in directions X, Y and Z, respectively. 相似文献