【摘要】 为获取iiwa七自由度机械臂准确的动力学模型参数,通过对其运动学和动力学模型分析,推导并给出了针对该机械臂动力学参数辨识公式。为获取尽可能准确的动力学参数,设计使用了傅里叶级数形式的最优关节激励轨迹,并给出了激励轨迹的最优化判据与方法。通过实验辨识出了包含机械臂关节摩擦模型参数在内的动力学参数,验证了所辨识出参数的高度精确性。更多还原

【Abstract】 In order to identify the dynamics parameters of iiwa,the identification formula was first derived in this paper based on the analysis of the manipulator’s kinetics and dynamics model. Then for the purpose of acquiring the dynamics parameters as accurately as possible,the optimal joint excitation trajectories were designed based on the proposed optimization criterion and method. More importantly,all the joint friction model parameters have also been considered so as to increase the accuracy of model using the identified parameters. Lastly,the high identified parameter accuracy has been verified by the experimental validation.更多还原