ZHANG Yan

(Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China)

Abstract: Aiming at the problem of inertial parameters identification , the method of static and dynamic identification of robot dynamics parameters was presented. In the phase of static identification, a multidimensional matrix was constituted through transforming the configurations of robot arms. Then, the product of mass and center-of-mass coordinates was solved by using the least square method. Based on Newton-Euler algorithm, decoupled dynamic equation of mechanical arms dynamics was deduced. In the phase of dynamic identification, specific joint movement was designed. The inertia tensor and centroid coordinates of robot arms were identified by adopting the pseudo inverse method. Then, the whole identification of dynamic parameters was completed. Finally, the result of simulation and experiment indicate that the correctness and feasibility of the identification algorithm is manifested.

Key words: dynamic parameters; dynamic and static identification; manipulator