模块化机器人关节非线性摩擦力建模研究
Nonlinear friction modeling for Modular robot joints
针对stribeck摩擦模型换向时误差较大的问题，提出采用stribeck模型+高斯函数的形式来描述模块化机器人关节的摩擦特性，在此基础上进行了参数辨识的实验设计，并通过遗传算法对实际数据进行辨识实验。实验结果表明，采用提出的摩擦模型更能描述模块化关节的摩擦特性。
o decrease the effect of error caused by reversing of stribeck model, a new method of Stribeck+Gaussian model was proposed for describing the friction characteristics of Robot's modular joint. The parameter identification experiment is designed based on this method, and the identification experiment on practical data is carried out through genetic algorithm. The experiment result indicates that it is more appropriate to describe the friction characteristics of modular joint with the friction model which has been proposed.
孙汉旭、宋荆州、李晓、唐颖雯
机械学机械零件、传动装置自动化技术、自动化技术设备
模块化关节 非线性摩擦 stribeck模型 参数辨识
Modular jointNonlinear frictionStribeck modelParameter identification
孙汉旭,宋荆州,李晓,唐颖雯.模块化机器人关节非线性摩擦力建模研究[EB/OL].(2016-01-18)[2025-08-24].http://www.paper.edu.cn/releasepaper/content/201601-356.点此复制
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