基于混合遗传算法的机器人改进摩擦模型辨识

张铁,胡亮亮,邹焱飚

Identification of improved friction model for robot based on hybrid genetic algorithm

Tie ZHANG,Liang-liang HU,Yan-biao ZOU

表 3 改进Stribeck摩擦模型辨识参数

Tab.3 Parameter identification of improved Stribeck friction model

关节 ${f_{\rm{C}}}/$ $\left( {{\rm{N}} \cdot {\rm{m}}} \right)$ ${f_{\rm{S}}}/$ $\left( {{\rm{N}} \cdot {\rm{m}}} \right)$ $v_{\rm{s}}/$ $\left( {{\rm{rad}} \cdot {{\rm{s}}^{{\rm{ - 1}}}}} \right)$ $\gamma $ ${f_{\rm{V}}}/$ $\left( {{\rm{N}} \cdot {\rm{m}} \cdot {\rm{s}} \cdot {\rm{ra}}{{\rm{d}}^{{\rm{ - 1}}}}} \right)$ ${f_{\rm{P}}}/$ $\left( {{\rm{N}} \cdot {\rm{m}}} \right)$ ${\dot q_0}/$ $\left( {{\rm{rad}} \cdot {{\rm{s}}^{{\rm{ - 1}}}}} \right)$ 1 11.64 23.19 0.02767 2 27.88 0.47 0.010 2 39.93 73.24 0.01292 2 89.24 −3.34 0.005 3 38.53 53.78 0.01557 2 89.49 −4.74 0.010