基于惯性测量单元的欠驱动球形机器人惯性参数辨识

针对欠驱动球形机器人,提出基于惯性测量单元的惯性参数辨识方法。首先,根据Kane方法建立欠驱动球形机器人的动力学模型;其次,利用该模型中的三个欠驱动方程推导出球形机器人惯性参数辨识模型;最后,以一种新型的球形机器人为实验平台,根据安装在球形机器人框架上的惯性测量单元实测信息,对本文方法进行实验验证。实验结果表明,辨识结果具有合理性。该方法简单可行,为其他欠驱动机器人惯性参数辨识提供了一种新的思路。

Method for identifying inertial parameters of underactuated spherical robot based on inertial measurement unit

An approach to identify the inertial parameters of an underactuated spherical robot is presented,which is based on an Inertial Measurement Unit(IMU).First,a dynamic model of the spherical robot was constructed using Kane's method.Then,using the three underactuated equations of the constructed dynamic model,the identification model of inertial parameters of the spherical robot was derived.Finally,the proposed method of inertial parameter identification was validated by experiment on a new type of spherical r...