An improved parameter identification method of redundant manipulator

International Journal of Advanced Robotic Systems

article

Shi-Ping Liu¹  Zi-Yan Ma¹  Jin-Liang Chen¹  Jun-Feng Cao¹  Yan Fu¹  Shi-Qi Li¹ 

[1] Huazhong University of Science and Technology, School of Mechanical Science and Engineering

关键词: Redundant manipulator;    dynamic parameter identification;    manipulator dynamic model;    manipulator control optimization;    nonlinear optimization;   

DOI  :  10.1177/17298814211002118

学科分类：社会科学、人文和艺术（综合）

来源: InTech

【 摘 要 】

To achieve more accurate simulation and control in the use of the manipulator, it is necessary to establish an accurate dynamic model of the redundant manipulator. The research of this article focuses on the dynamic parameter identification method of the redundant manipulator. In the study, the spinor theory is applied to the Newton–Euler dynamic equation, the Coulomb þ viscous friction model is adopted, and the minimum parameter set is obtained by linearization derivation. The parameter identification of the manipulator is realized using the method of offline identification of the measured current, and the coefficient of the excitation trajectory is optimized using the nonlinear optimization function. Finally, the parameter set with high accuracy is obtained, and the motion trajectory of each joint can be obtained. The scheme has high accuracy and can meet the needs of practical application. To verify the accuracy and reliability of this method, we have carried out experiments on a service robot “Walker” and obtained the desired results.

【 授权许可】

CC BY