摘要
给出了双臂四自由度空间机器人捕捉未知目标的参数辨识方法.该方法基于线动量和角动量守恒定律,推出了机械臂负载未知目标的新的末端效应器的质量、质心和转动惯量的方程组.在线测量当机械臂运动时的本体的线速度和角速度,以求得方程组中这些未知的惯性参数.数值试验显示了该方法的有效性.
This paper presents a method to ider, tify the inertial parametersof unknown object handled by the manipulator on a 4-degree-of-freedom（DOF） dual-arm space robot. Based on the conservation principle of linear and angular momentum, the method derives the equations of the mass and mass center as well as inertia tensor of the new end-effector for the manipulator handling the unknown object. These unknown inertial parameters can be obtained from the equations using the linear and angular velocities of the base measured on line when the manipulators move. The feasibility of the method is demonstrated by the numerical simulation.
出处
《机器人》
EI
CSCD
北大核心
2005年第6期512-516,共5页
Robot
关键词
参数辨识
未知目标
双臂四自由度
空间机器人
parameter identification
unknown object
dual-arm four degrees of fteedom
space robot
