球面二自由度冗余驱动并联机器人系统动力学参数辨识及控制

以伺服电机驱动的球面2-DOF冗余驱动并联机器人为研究对象，首先，建立了机构惯性参数辨识模型，并规划了惯性参数辨识轨迹；其次，建立了机构运动副摩擦参数辨识模型和驱动系统的摩擦参数辨识模型，分别分析了二者的辨识原理，并规划了摩擦参数辨识轨迹；再次，通过辨识实验得到了机构惯性参数、机构转动副摩擦参数和驱动系统摩擦参数的辨识结果，利用辨识结果对原机构参数进行修正，获得了更为准确的机器人系统动力学模型，并通过轨迹测试实验，对辨识结果进行了验证；最后，制定了基于机器人系统动力学模型的前馈控制策略，与传统的机构运动学闭环控制策略进行实验对比，验证了该控制策略的可行性。

Dynamics Parameter Identification and Control of a Spherical 2-DOF Redundant Driven Parallel Robot System

A spherical 2-DOF redundant drive parallel robot driven by servo motor was the research object.Firstly,the inertia parameter identification model of the mechanisms was established,and the inertial parameter identification trajectory was programmed.Secondly,the friction parameter identification model of the mechanism pairs and the friction parameter identification model of the driving system were established,and their identification principles were analyzed respectively.The trajectory of friction parameter identification was also programmed.Thirdly,through the identification experiments,the mechanism inertia parameters,the mechanism rotation pair friction parameters and the driving system friction parameter identification results were obtained,the original mechanism parameters were modified by the identification results,a more accurate robot system dynamics model was obtained,and the identification results were validated by the trajectory test experiments.Finally,a feed forward control strategy was developed based on the dynamics model of the robot system and compared with the traditional mechanism kinematics closed-loop control strategy.The feasibility of this control strategy was proved.