Identification method of kinetic model of six-degree-of-freedom mechanical arm

A technology of dynamic model and identification method, which is applied in the field of dynamic model identification of robot manipulator
CN107498562AInactive Publication Date: 2017-12-22ZHEJIANG UNIV OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
ZHEJIANG UNIV OF TECH
Publication Date
2017-12-22
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention relates to an identification method of a kinetic model of a six-degree-of-freedom mechanical arm. The identification method comprises the steps of establishing a linear kinetic model of the mechanical arm according to joint friction by utilizing an improved Newton-Euler method first, then introducing a PSO (Particle Swarm Optimization) algorithm, establishing an algorithm for estimating unknown kinetic parameters on the basis of the improved PSO algorithm according to the concept of variation in a genetic algorithm at the same time, finally, using an UR (industrial robot) as an experimental subject, exciting joints of the industrial robot to move by designing an exciting track, and sampling joint movement parameters, so that the estimation of the kinetic parameters of the UR is realized, and the kinetic model is verified according to the moment prediction accuracy. Experiments verify the accuracy and effectiveness of the kinetic model, which is identified by the identification method, of the industrial robot.
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Description

technical field

[0001] The invention relates to a dynamic model identification method of a robot manipulator. Background technique

[0002] In recent years, industrial robots have been widely used in various fields of industrial production, especially in shipbuilding, automobile and aviation manufacturing. As the computing power of computers continues to increase and the cost of computing decreases, advanced control techniques applied to robots become more feasible. However, the dynamic model of the manipulator contains some unknown parameters, and many robot control methods rely on these unknown values, especially in the case of high-speed motion. Therefore, the dynamic parameter identification method is of great significance to the development of model-based control methods.

[0003] At present, a standard dynamics identification process of a manipulator includes dynamics modeling, excitation trajectory design, data acquisition, parameter identification, and model verifi...

Claims

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