新型轻量化工业机器人的动力学建模和辨识

       随着疫情常态化和中国社会老龄化不断加重，机器人作为替代劳动力的有效工具, 正不断朝着智能化、轻量化等发展，涉及到材料、结构、力学和控制等学科内容的改进提高。使用复合材料替换传统的金属材料是一种新的研究内容，需要研究对机器人性能的影响，包括运动学和动力学。在确认完复合材料的性能后，为了搭建基于模型的控制系统，需要建立适合的动力学模型，以及进行动力学参数的辨识。

       本文研究主要目的为验证复合材料应用在机器人上对其性能造成的影响，以及使用旋量理论和李代数等开展多自由度机器人动力学模型建立和具体惯性参数等的辨识。我们通过有限元、实物测试进行静力学分析，验证复合材料机械臂承受静态载荷的变形; 使用多体动力学计算软件仿真分析复合材料机械臂的固有频率、 运动特性等，验证了复合材料在机器人上的优良性能。分析了使用旋量构建机器 人的正逆运动学、正逆动力学递推关系，构建回归形式的动力学方程，为展开具体辨识奠定基础。采用符号计算完成确认最小可辨识参数集，经在 MATLAB 实现并通过机器人工具箱进行仿真验证。在李群 QKM TH-12 机器人上进行实物验证，分析了摩擦力项和转子惯量对动力学辨识的影响。最后，为提高动力学参数辨识的效果，研究了激励轨迹优化、粒子群算法优化以及运动学标定，所提出的结合轨迹优化和粒子群算法优化的新方法，能有效地改善动力学参数辨识效果。

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