Dynamics Identification Method of Multi-Degrees-of-Freedom Robot Based on Disturbance Observer.

摘要

The paper describes an identification method of the dynamics of robot. In the proposed method, two observers are constructed in the joint space. One is used to realize the robust motion controller which is unsensitive against the disturbance torque. The other is used to estimate the dynamics of robot. First, the disturbance observer is introduced from the physical point of view. Then the disturbance torque is also defined from the dynamic model derived from the Euler-Lagrange equations and the model of motor. Secondly, the identification method of the robot dynamics is explained.Several numerical and experimental results are shown to confirm the validity of the dynamic model established by the proposed method. The paper also shows the feasibility of the estimation of reaction torque by using the established dynamic model and the disturbance observer.