Study Of Dynamic Parameter Identification Of Automatically Feeding Robot

The robot is a cross-disciplinary integration,including mechanical,electronic,hydraulic pressure,computer,control,information,artificial intelligence,bionics and other high-tech field.With the rapid development of science and technology,some theoretical methods and simulation tools have been put forward in the process of robot research so that the dynamic performance and data precision have been greatly improved.Due to various factors in practical application,the complexity and difficulty of robotic research are caused.In this regard,it is urgent to establish new robotic kinematics and dynamics model to improve the maneuverability and dynamic characteristics of the robot in order to ameliorate the precision and performance of the robot.Taking an automatically feeding robot as investigated subject in the practice of wine making,a new dynamic parameter identification method based on the screw theory is studied in the paper.Firstly,the motion screw of rigid body is described by using the Lie group,Lie algebra and screw theory in great detail.Then,the concepts of the motion screw,the transformation of rigid body and the exponential product formula are introduced.Subsequently,the six DOF kinematic model of automatically feeding industrial robot and the calibration of the geometric parameters of the robot are also established.Secondly,based on the screw theory and Kane's equation,a dynamic modeling method of automatically feeding industrial robot is proposed.The Jacobi matrix of automatically feeding robot based on screw theory is expounded on two aspects of the exponential product and spiral motion.Then,the dynamic modeling method based on the Kane's equation is introduced.In this regard,the screw of active force,the screw of inertial force,the partial velocity twist,the generalized active force and the generalized inertial force are defined.Therefore,the Kane's dynamic equation is built by the D'Alembert's principle and the dynamic influence factors are also introduced explicitly.Finally,the equation of identification based on the recursive equation of the parameter matrix is completed,and the identification algorithm based on the recursive least square method is summarized.Then,the non-singular matrix is explained in detail.Hence,the identification model is obtained.The method simplifies the model in a large part and the difficulty of identification optimizes with a good pertinence.Accordingly,the dynamic inertia parametersof the robot are obtained,the dynamic model of the robot is optimized and the dynamic characteristics of the robot are improved.What is more,the accuracy and dynamic performance of the robot are improved.