Please wait a minute...
J4  2013, Vol. 47 Issue (2): 231-237    DOI: 10.3785/j.issn.1008-973X.2013.02.006
机械工程     
基于改进傅里叶级数的机器人动力学参数辨识
吴文祥, 朱世强, 靳兴来
浙江大学 流体动力与机电系统国家重点实验室,浙江 杭州 310027
Dynamic Identification for Robot Manipulators Based on
Modified Fourier Series
WU Wen-xiang, ZHU Shi-qiang, JIN Xing-lai
State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China
 全文: PDF  HTML
摘要:

针对机器人动力学参数辨识的问题,提出一种基于改进傅里叶级数的辨识方法.采用静态连续摩擦模型描述机器人关节摩擦特性,以确保基于该模型的摩擦补偿是物理可实现的.推导得到机器人动力学模型的线性形式.设计严格满足速度、加速度边界条件的改进傅里叶级数作为激励轨迹,并根据条件数准则优化激励轨迹系数.考虑测量噪声的影响,采用最大似然法作为参数估计的方法.实验结果表明,采用所提方法的辨识结果能够准确重构机器人关节力矩值.且相比于传统的基于傅里叶级数的辨识方法,该方法提高参数辨识的精度.

Abstract:

To deal with the problem of dynamic parameter identification of robot manipulators, a systematic identification procedure was proposed based on modified Fourier series. First, a static continuous friction model was involved to model joint friction for realizable friction compensation in controller design. Then, the robot dynamic model was expressed linearly with respect to dynamic parameter vector. Second, periodic modified Fourier series was designed as exciting trajectory, which satisfied velocity and acceleration boundary conditions. To minimize the sensitivity to measurement noise, the coefficients of modified Fourier series were optimized according to the condition number criterion using genetic algorithm. In addition, considering the measurement noise effects, maximum likelihood estimation method was adopted to obtain accurate parameter estimates. The proposed identification procedure had been implemented on the first three axes of 6DOF robot manipulator. Experimental results show that the needed joint torques can be reconstructed accurately, and identification using modified Fourier series can achieve better accuracy than that using finite Fourier series.

出版日期: 2013-02-01
:  TP 242.2  
基金资助:

浙江省自然科学基金资助项目(Y1100693);浙江省重点科技创新团队资助项目(2009R50014);国家重点实验室资助项目.

通讯作者: 朱世强,男,教授,博导.     E-mail: sqzhu@zju.edu.cn
作者简介: 吴文祥(1985—),男,博士生,主要从事运动控制技术和工业机器人的研究.E-mail:wxwu@zju.edu.cn
服务  
把本文推荐给朋友
加入引用管理器
E-mail Alert
RSS
作者相关文章  

引用本文:

吴文祥, 朱世强, 靳兴来. 基于改进傅里叶级数的机器人动力学参数辨识[J]. J4, 2013, 47(2): 231-237.

WU Wen-xiang, ZHU Shi-qiang, JIN Xing-lai. Dynamic Identification for Robot Manipulators Based on
Modified Fourier Series. J4, 2013, 47(2): 231-237.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2013.02.006        http://www.zjujournals.com/eng/CN/Y2013/V47/I2/231

[1] BROGARDH T. Robot control overview: an industrial perspective [J]. Modeling Identification and Control, 2009, 30(3): 167-180.
[2] 刘楚辉,姚宝国,柯映林.工业机器人切削加工离线编程研究[J].浙江大学学报:工学版,2010,44(3): 426-431.
LIU Chu-hui, YAO Bao-guo, KE Ying-lin. Study on off-line programming of industrial robot for cutting process [J]. Journal of Zhejiang University: Engineering Science, 2010, 44(3): 426-431.
[3] KOSTIC D, DE JAGER B, STEINBUCH M, et al. Modeling and identification for high-performance robot control: an RRRrobotic arm case study [J]. IEEE Transactions on Control Systems Technology, 2004, 12(6): 904-919.
[4] BONA B, INDRI M, SMALDONE N. Rapid prototyping of a model-based control with friction compensation for a directdrive robot [J]. IEEE-ASME Transactions on Mechatronics, 2006, 11(5): 576-584.
[5] QIN Z K, BARON L, BIRGLEN L. A new approach to the dynamic parameter identification of robot manipulators [J]. Robotica, 2010, 28: 539547.[6] BENIMELI F, MATA V, VALERO F. A comparison between direct and indirect dynamic parameter identification methods in industrial robots [J]. Robotica, 2006, 24: 579-590.
[7] ATKESON C G, AN C H, HOLLERBACH J M. Estimation of inertial parameters of manipulator loads and links [J]. International Journal of Robotics Research, 1986, 5(3): 101-119.
[8] ARMSTRONG B. On finding exciting trajectories for identification experiments involving systems with nonlinear dynamics [J]. International Journal of Robotics Research, 1989, 8(6): 28-48.
[9] SWEVERS J, GANSEMAN C, DE SCHUTTER J, et al. Experimental robot identification using optimized periodic trajectories [J]. Mechanical Systems and Signal Processing, 1996, 10(5): 561-577.
[10] VUONG N D, ANG M H. Dynamic model identification for industrial robots [J]. Acta Polytechnica Hungarica, 2009, 6(5): 51-68.
[11] CALANCA A, CAPISANI L M, FERRARA A, et al. MIMO closed loop identification of an industrial robot [J]. IEEE Transactions on Control Systems Technology, 2011, 19(5): 1214-1224.
[12] OLSEN M M, PETERSEN H G. A new method for estimating parameters of a dynamic robot model [J]. IEEE Transactions on Robotics and Automation, 2001, 17(1), 95-100.
[13] BINGUL Z, KARAHAN O. Dynamic identification of Staubli RX60 robot using PSO and LS methods [J]. Expert Systems with Applications, 2011, 38(4): 4136-4149.
[14] GAUTIER M, KHALIL W. Direct calculation of minimum set of inertial parameters of serial robots\
[J\]. IEEE Transactions on Robotics and Automation, 1990, 6(3): 368-373.
[15] LIN S K. Minimal linear combinations of the inertia parameters of a manipulator [J]. IEEE Transactions on Robotics and Automation, 1995, 11(3): 360-373.
[16] SWEVERS J, GANSEMAN C, TUKEL D B, et al. Optimal robot excitation and identification [J]. IEEE Transactions on Robotics and Automation, 1997, 13(5): 730-740.
[17] ANTONELLI G, CACCAVALE F, CHIACCHIO P. A systematic procedure for the identification of dynamic parameters of robot manipulators\
[J\]. Robotica, 1999, 17: 427-435.

[1] 陈庆诚,朱世强,王宣银,张学群. 基于旋量理论的串联机器人逆解子问题求解算法[J]. J4, 2014, 48(1): 8-14.
[2] 王会方, 朱世强, 吴文祥. 基于INSGA-Ⅱ算法的机械手多目标轨迹规划[J]. J4, 2012, 46(4): 622-628.
[3] 丁渊明, 王宣银. 串联机械臂结构优化方法[J]. J4, 2010, 44(12): 2360-2364.