Multi-model based identification method for dynamics parameters of robot arm
By using a multi-model control system and a genetic algorithm to optimize the excitation trajectory, the problem of low efficiency in identifying the dynamic parameters of robotic arms in existing technologies has been solved, and efficient and accurate identification of dynamic parameters has been achieved.
CN117798900BActive Publication Date: 2026-06-16YIJIAHE TECH CO LTD
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- YIJIAHE TECH CO LTD
- Filing Date
- 2023-09-28
- Publication Date
- 2026-06-16
Smart Images
Figure CN117798900B_ABST
Abstract
The present application relates to a six-axis robot dynamics identification method, mainly solves the problem of low efficiency of single-arm identification in engineering deployment, designs a multi-model-based robot dynamics parameter identification method, which can batch process dynamics identification operation of the robot; at the same time, the excitation trajectory is optimized, and the dynamics identification accuracy is improved.
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