IDENTIFYING METHOD FOR DYNAMIC MODEL OF ROBOT ARM

摘要

PURPOSE: To decrease error accumulation in the from-time-to-time identification method by grasping the applicable robot as an assembly of subrobots having a plurality of degrees of freedom when the dynamic characteristic model of the robot arm is to be identified, and determining necessary parameters through computational process using a predetermined equation of motion. ;CONSTITUTION: A robot consists of a string of rigid link mechanisms in which adjoining joint axes are coupled together by swivel joints vertically or parallel, and the dynamic model equation I of this robot is identified through such procedures as follows; putting one joint axis stationarily in an apropriate attitude, measuring the joint angle and balance torque τ_i, determining the Coulomb stationary friction fsi of the joint axis from Equation II about every joint axis, and determining the base bottom parameter of the gravitation term of each joint axis from Equation III, when the joint axis one before is parallel, and from Equation IV when intersecting perpendicularly. The joint axis is revolved at equal angular velocity in two angular speeds, and the viscosity of the revolving joint axis and the Coulomb frictions bi, fi are determined from Equation V about every joint axis, and the inertia parameter is determined from Equation VI, when the joint axis one before is parallel, and from Equation VII when intersecting perpendicularly, about every joint axis.;COPYRIGHT: (C)1994,JPO&Japio