Identification of robot dynamic model and joint frictions using a baseplate force sensor
Identification of robot dynamic model and joint frictions using a baseplate force sensor
复制标题
使用基板力传感器识别机器人动态模型和关节摩擦
DOI：
10.1007/s11431-021-1877-7
复制
发表时间：
2021
期刊：
影响因子：
--
通讯作者：
Xiong ZhenHua
中科院分区：
文献类型：
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作者：
Wu JianHua;Li Wang;Xiong ZhenHua
动力学模型在机器人控制和应用中起着重要的作用。动态模型的准确识别已成为满足日益增长的性能要求的关键。由于惯性力和关节摩擦力的耦合，识别首先需要一个参数化的摩擦模型。然而，关节摩擦力是强非线性的，并且随着包括姿态、速度和温度在内的许多因素而变化。因此，所有的摩擦模型都与真实的值有一定的偏差，这降低了识别精度。本文提出了一种基于底板力传感器的辨识方法。该方法首先辨识惯性参数，然后通过从关节力矩中减去惯性力矩来计算关节摩擦力。该方法具有不需要先验摩擦模型的优点。它可以选择或构建一个合适的模型来拟合真实的值，从而有望实现高性能。在一个6自由度机器人上进行了实验，以验证所提出的方法。
Dynamic models play an important role in robot control and applications. The accurate identification of dynamic models has become crucial to meeting increasing performance requirements. Owing to the inertial forces and the joint frictions coupling, the identification first requires a parametrized friction model. However, the joint frictions are strongly nonlinear and vary with many factors including posture, velocity and temperature. Hence, all friction models have some deviation from the real values, which reduces the identification accuracy. This paper proposes an identification approach using a baseplate force sensor. It identifies the inertial parameters first and then computes the joint friction values by subtracting the inertial torques from the joint torques. This method has the advantage that it does not require a priori friction model. It can choose or construct a proper model to fit the real values and is thus expected to achieve high performance. Experiments on a 6-DoF robot were conducted to verify the proposed method.