Method for improving robot parameter identification accuracy

提高机器人参数辨识精度的方法

Abstract

The invention discloses a method for improving robot parameter identification accuracy and belongs to the field of industrial robot control. The method comprises optimizing stimulation trajectories through a genetic algorithm; stimulate a robot to perform cyclical movement according to the optimized stimulation trajectories; sampling actual joint positions and actual torque data during moving and processing the data to obtain torque values, joint positions, joint speeds and joint accelerated speeds which are high in signal to noise ratio; establishing a dynamic linear model, and identifying all parameters related to joint dynamics through a weighted least square method. By the aid of the method, the actual trajectory Fourier series form is fit through an inverse method, and accordingly, speeds and accelerated speeds which cannot be obtained directly in experiments can be obtained conveniently, noise signals in sampling position signals and torque signals can be eliminated through an equalization method, the signal to noise ratio is improved and the robot parameter identification accuracy is improved.
本发明公开了一种提高机器人参数辨识精度的方法,属于工业机器人控制领域。对激励轨迹利用遗传算法进行优化,然后按照优化后的激励轨迹激励机器人做周期性运动,在运动过程中采样出实际关节位置和实际力矩数据,并对数据进行处理,得到信噪比较高的力矩值、关节位置、关节速度和关节加速度,建立动力学线性模型,采用加权最小二乘法辨识出所有关节动力学相关的参数。通过反推拟合出实际轨迹的傅里叶级数形式,不仅能够方便地获得实验中无法直接获得的速度和加速度,而且通过采用平均化的方法可消除采样位置信号和力矩信号中的噪声信号,提高信噪比,从而提升机器人参数辨识精度。

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Cited By (1)

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