An Improved Redundant Robotic Arm Parameter Identification Method

Abstract

In order to establish the dynamic model of redundant robotic arm more accurately, this paper studies the identification method of the dynamic parameters of redundant robotic arm. A method of introducing the theory of spins based on the Newton-Euler dynamics equations, and using the Coulomb + viscous friction model to further derive the minimum parameter set through linearization is proposed. The method of offline identification of current measurement is used to realize the parameter identification of the robotic arm. The excitation trajectory is designed in the basic form of Fourier series. The non-linear optimization function is used to optimize the coefficient of the trajectory with the minimum number of conditions in the observation matrix as the goal Therefore, the available joint trajectories are obtained, and the obtained parameter set has high accuracy and can meet the needs of actual control. Finally, the method was experimentally tested by actual robot Walker, which verified the accuracy and effectiveness of the proposed method.