考虑关节摩擦的空间机器人动力学建模与参数辨识

研究了考虑关节摩擦影响的空间机器人系统的动力学建模与参数辨识问题．采用单向递推组集方法和虚功率原理建立了含有关节摩擦的多体系统动力学方程，推导了关节摩擦对系统动力学方程的贡献，采用基于腕力传感器信号和最小二乘法的辨识方法进行了系统惯性参数的辨识．数值仿真结果验证了数学模型的正确性与辨识方法的有效性．

Dynamic Modeling and Parameter Identification of a Space Robot Considering Joint Friction

Taking account of the influence of joint friction, dynamic modeling and parameter identification of a space robot were studied. The dynamic model for the system was established by the forward recursive formulation and virtual power principle; the contribution of joint friction to the dynamic equation of the system was derived. The inertia parameters of the system are identified by the signal of wrist sensor and using least square method. The results of numerical simulation verify the validity of the dynamic model and the effectiveness of the identification method.