【摘要】 首先采用牛顿-欧拉法推导了工业机器人的动力学模型,并对动力学参数进行重组得出工业机器人的动力学基础参数;其次,综合考虑了观察矩阵条件数、惩罚函数等指标,采用遗传算法优化得出参数辨识轨迹;最后,通过对ADAMS软件中的机器人模型进行参数辨识仿真实验,验证了参数辨识方法的有效性。更多还原

【Abstract】 At first,the dynamic model of the heavy-duty robot is deduced by Newton-Euler method,and the basic parameters are obtained by reorganizing the dynamic parameters of the heavy-duty robot.Then,multiple criteria are considered,such as the condition number of the observation matrix,the penalty function,etc.The parameters identification trajectory is obtained by genetic algorithm.Finally,through parameter simulation of the robot model in ADAMS,the validity of the parameter identification method is verified in this paper.更多还原