| 含有摩擦间隙迟滞的机械臂关节建模方法 |
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| 引用本文： | 杜志江,肖永强,董为. 含有摩擦间隙迟滞的机械臂关节建模方法[J]. 机器人, 2011, 33(5): 539-545. DOI: 10.3724/SP.J.1218.2011.00539 |
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| 作者姓名： | 杜志江 肖永强 董为 |
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| 作者单位： | 哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨,150080 |
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| 基金项目： | 国家863计划资助项目(2009AA04Z216); 国家科技重大专项资助项目(2009ZX04013-011) |
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| 摘 要： | 为了提高机器人关节建模精度,提出了一种同时考虑摩擦、间隙和迟滞的综合建模方法.将关节分为高速轴和低速轴两部分,采用GMS (generalized Maxwell-slip)方法构建了减速器高速轴和低速轴的摩擦模型:采用Preisach模型来描述两部分迟滞模型中的线性特性,采用多项式方法来描述迟滞特性中的非线性刚度以满...
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| 关 键 词： | 关节建模 摩擦 间隙:迟滞 |
Modeling of Robot Joints with Friction,Backlash and Hysteresis |
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| DU Zhijiang,XIAO Yongqiang,DONG Wei. Modeling of Robot Joints with Friction,Backlash and Hysteresis[J]. Robot, 2011, 33(5): 539-545. DOI: 10.3724/SP.J.1218.2011.00539 |
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| Authors: | DU Zhijiang XIAO Yongqiang DONG Wei |
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| Affiliation: | DU Zhijiang,XIAO Yongqiang,DONG Wei (State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150080,China) |
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| Abstract: | In order to improve the accuracy of robot joints model,a modeling approach is proposed,in which the friction, backlash and hysteresis characteristics are included in an integrated model.The proposed model is built upon dividing a robot joint into high-speed and low-speed axes respectively.The friction model of high-/low-speed axes are set up based on the GMS(generalized Maxwell-slip) model.Preisach model is utilized to describe the linear behaviors of the high-/low-speed axes of the hysteresis model,and the... |
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| Keywords: | joint modeling friction backlash hysteresis |
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