基于牛顿欧拉法的 SCARA 机器人动力学参数辨识

doi:10.3969/j.issn.1000-565X.2017.10.018

华南理工大学学报（自然科学版） ›› 2017, Vol. 45 ›› Issue (10): 129-136,143.doi: 10.3969/j.issn.1000-565X.2017.10.018

基于牛顿欧拉法的 SCARA 机器人动力学参数辨识

张铁¹ 梁骁翃¹ 覃彬彬¹刘晓刚²

1．华南理工大学机械与汽车工程学院，广东广州 510640; 2．桂林航天工业学院广西高校机器人与焊接重点实验室，广西桂林 541004

收稿日期:2017-02-03 修回日期:2017-05-09 出版日期:2017-10-25 发布日期:2017-09-01
通信作者: 张铁(1968-)，男，教授，博士生导师，主要从事机器人技术研究． E-mail:merobot@scut.edu.cn
作者简介:张铁(1968-)，男，教授，博士生导师，主要从事机器人技术研究．
基金资助:
国家高档数控机床与基础制造装备科技重大专项(2015ZX04005006);广东省科技重大专项(2014B090921004，2015B010918002);广州市科技重大项目(201604040009);广西高校机器人与焊接重点实验室主任课题基金资助项目(JQR2015KF02)

Dynamic Parameter Identification of SCARA Robots Based on Newton-Euler Method

ZHANG Tie¹ LIANG Xiao-hong¹ QIN Bin-bin¹ LIU Xiao-gang²

1.School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510640,Guangdong,China; 2.Guangxi Colleges and Universities Key Laboratory of Robot and Welding,Guilin University of Aerospace Technology,Guilin 541004,Guangxi,China

Received:2017-02-03 Revised:2017-05-09 Online:2017-10-25 Published:2017-09-01
Contact: 张铁(1968-)，男，教授，博士生导师，主要从事机器人技术研究． E-mail:merobot@scut.edu.cn
About author:张铁(1968-)，男，教授，博士生导师，主要从事机器人技术研究．
Supported by:
Supported by the National High Grade CNC Machine Tools and Basic Manufacturing Equipment Science and Technology Major Project of the Ministry of Science and Technology of China(2015ZX04005006) and the Science and Technology Major Project of Guangdong Province(2014B090921004，2015B010918002)

摘要/Abstract

摘要： SCARA 机器人在工业生产中得到了广泛应用．为满足高速、高精度的要求，必须对 SCARA 机器人进行动力学分析．文中用牛顿欧拉方法对 SCARA 机器人进行动力学建模，并将摩擦力以及电机转子对关节力矩的影响纳入动力学模型，得出了关节力矩关于一组可辨识参数集的线性表达式．采用傅里叶级数作为激励轨迹进行实验，并通过最小二乘法对得出的可辨识动力学参数集进行辨识．实验证明，通过推导的线性表达式计算出的关节力矩理论值与实际值的变化趋势一致．运用所提方法辨识的动力学参数进行动力学建模，能得到 SCARA 机器人运动时的关节力矩，可为后期的动力学控制提供基础计算公式．

关键词: SCARA机器人, 动力学参数辨识, 牛顿欧拉方法, 关节力矩

Abstract: SCARA robots have been widely used in industrial production.In order to meet the requirements of high speed and high precision,it is necessary to conduct a dynamics analysis of SCARA robots.In this paper,a dynamic model of a SCARA robot is constructed by means of the Newton-Euler method.Then,the effects of friction and mo- tor rotors on joint torques are taken into account in the dynamic model,and a linear expression of the joint torque with respect to a set of identifiable parameters is established.Finally,the excitation trajectories generated by means of the Fourier series formulation are used in an excitation experiment,and the least squares method is employed to identify the identifiable parameters.Experimental results show that the variation trend of the joint torque obtained through the established linear expression is consistent with that of the actual value.When the dynamic parameters obtained through the identification method proposed in this paper are applied to a dynamic modeling,the joint torque of a running SCARA robot can be achieved.The proposed method can provide basic equations for the future work on a dynamic control.

Key words: SCARA robot, dynamic parameter identification, Newton-Euler method, joint torque

中图分类号:

TP24

张铁梁骁翃覃彬彬刘晓刚. 基于牛顿欧拉法的 SCARA 机器人动力学参数辨识[J]. 华南理工大学学报（自然科学版）, 2017, 45(10): 129-136,143.

ZHANG Tie LIANG Xiao-hong QIN Bin-bin LIU Xiao-gang. Dynamic Parameter Identification of SCARA Robots Based on Newton-Euler Method[J]. Journal of South China University of Technology (Natural Science Edition), 2017, 45(10): 129-136,143.

基于牛顿欧拉法的 SCARA 机器人动力学参数辨识

Dynamic Parameter Identification of SCARA Robots Based on Newton-Euler Method

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