A robot dynamics parameter identification method based on an improved friction model

Abstract

The application provides a robot dynamics parameter identification method based on an improved friction force model, comprising the following steps: establishing a dynamics model of the robot; converting an expression of joint torque of the robot in the dynamics model of the robot into a linear form of link inertia parameters of the robot; setting an excitation trajectory of the robot, and obtaining dynamics data of the robot joints when the robot moves along the excitation trajectory; and calculating a minimum parameter set of the robot based on the dynamics model of the robot and the dynamics data of the robot joints by using a least square method. The application discloses a robot dynamics parameter identification method based on an improved friction force model, and can optimize the theoretical joint torque of a servo display support robot during movement, and improve the chattering problem at the joint reversing position.

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