Dynamic Parameters Identification Method of 6-DOF Industrial Robot Based on Quaternion

摘要

Identifying accurate dynamic parameters is of great significance to improving the control accuracy of industrial robots, but this area is relatively unexplored in the research. In this paper, a new algorithm for accurately identifying the dynamic parameters of a 6-degrees-of-freedom (DOF) robot is proposed by establishing a dynamic model. First, a multibody dynamic model of the robot is established, which can decouple the dynamic parameters of the rigid bodies that make up the robot. Decoupling is the basis of parameters identification. In order to ensure that the model is suitable for large-angle range motion and has good real-time performance, quaternion is used as the angle coordinate, and the model established thereby eliminates the singularity and improves the calculation efficiency. Second, the dynamic model is rewritten, and the dynamic parameters are separated as the parameters to be identified; thus, the parameters identification model is obtained. Furthermore, an identification algorithm based on the least-squares method is proposed, which can realize the accurate identification of dynamic parameters. The algorithm is verified by a simulation example. The results show that the value of the maximum absolute error of the identified parameters is −0.0264, and the maximum relative error is 0.031%, which proves the correctness and accuracy of the algorithm.