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Genetic algorithm-based method for identifying parameters of mechanical arm with unknown load

A genetic algorithm and parameter identification technology, which is applied in the field of parameter identification of manipulators with unknown loads based on genetic algorithms, can solve problems such as affecting the intelligence level of robots and less research work, and achieve the effect of easy implementation and good universality.

Inactive Publication Date: 2012-07-04
GUODIAN NANJING ELECTRIC POWER TEST RES CO LTD
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Problems solved by technology

The accuracy and real-time performance of the identification of the physical parameters of the robotic arm affect the level of intelligence of the robot, and there is still relatively little research work in this area

Method used

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  • Genetic algorithm-based method for identifying parameters of mechanical arm with unknown load
  • Genetic algorithm-based method for identifying parameters of mechanical arm with unknown load
  • Genetic algorithm-based method for identifying parameters of mechanical arm with unknown load

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Embodiment Construction

[0036] In order to make the object, technical solution and advantages of the present invention more clearly, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0037] See Figure 1-Figure 5 , the basic idea of ​​the present invention is to obtain its dynamic equation according to the dynamic characteristics of the double-joint mechanical arm with unknown load; Separation of variables to obtain the expression after the function of the unknown physical parameter is separated; according to the expression of the function of the unknown physical parameter after the separation, design a genetic algorithm to identify the parameters of the double-joint robotic arm with an unknown load; through MATLAB The identification value obtained by simulation is compared with the measured value to realize the identification of the physical parameters of the double-joint manipulator with unknown load.

[0038] ...

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Abstract

The invention provides a genetic algorithm-based method for identifying parameters of a mechanical arm with an unknown load. The method comprises four steps that: step 1: obtaining a dynamic equation of the mechanical arm according to dynamic characteristics of the double-hinged mechanical arm with the unknown load; step 2: conducting variable separation on functions of unknown physical parameters in the dynamic equation according to the dynamic equation of the double-hinged mechanical arm with the unknown load and obtaining a separated expression of the functions of unknown physical parameters; step 3: designing a genetic algorithm according to the separated expression of the functions of the unknown physical parameters, so as to identify the parameters of the double-hinged mechanical arm with the unknown load; and step 4: comparing an identification value obtained through matrix laboratory (MATLAB) simulation with a measured value, so as to identify the physical parameters of the double-hinged mechanical arm with the unknown load. By adopting the method, the problem of identifying the physical parameters of the double-hinged mechanical arm with the unknown load in a motion process is solved, so the method has a practical value in the technical field of robot control.

Description

(1) Technical field [0001] The present invention relates to a method for identifying the parameters of a manipulator with an unknown load based on a genetic algorithm, in particular to a method for identifying the physical parameters of a double-joint manipulator with an unknown load based on a genetic algorithm. The dynamic model of the double-joint mechanical arm is designed to identify the physical parameters of the mechanical arm through a genetic algorithm, which belongs to the field of robot control technology. (2) Background technology [0002] At present, in the field of robot control, the problem of parameter identification has been paid more and more attention. What kind of identification method is used to accurately identify the physical parameters of the manipulator is a hotspot in the field of robot control. [0003] The mechanical arm is the most widely studied and applied type of robot among humanoid robots. As a complex dynamical system with multi-rod conne...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 刘奕宁陈宝林刘金琨
Owner GUODIAN NANJING ELECTRIC POWER TEST RES CO LTD
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