基于關(guān)節(jié)扭矩平衡的機器人末端負載建模及辨識

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中圖分類號：TP242.2

DOI：10.3969/j.issn.1004-132X.2025.06.006 開放科學（資源服務）標識碼（OSID）：

Modeling and Identification of Robot End-payloads Based on Joint Torque Balance

GAO Guanbin1，2ZHAO Siguo1，2LI Yingjie1，2 * 1.Faculty of Mechanical and Electrical Engineering，Kunming University of Science and Technology， Kunming， 2.Yunnan Key Laboratory of Intelligent Control and Application，Kunming，

Abstract： To address the challenges of decoupling center of mass parameters in existing end-payload identification methods and the dificulty of implementation on robots with non-open controllers，a torque-balance-based modeling and identification method was proposed for robot end-payloads. The identifiability conditions of the end-payloads were analyzed under joint torque balance，and identification models for the end-payload mass and center of mass position were established. To further decouple the mass and center of mass parameters，a three-step identification strategy was designed，where the load mass was identified first，followed by the center of mass position in x and y ， and finally in z This strategy effectively eliminated the error terms introduced by the projection of joint torques in the identification models. The eficiency of the proposed method was validated through simulation and experiments. Compared with the built-in identification method of a non-open-source six-degree-of-freedom robot，the average error in mass identification is reduced from 0.103kg to 0.032kg ，while the average error in center of mass position identification is decreased from 50.25mm to 4.14mm . Furthermore，compared with dynamics parameter identification，the mass identification error is reduced from 0.179kg to 0.083kg ，and the center of mass position error is reduced from 10.13mm to 4.33mm

Key words： industrial robot;end-payload; torque balance；parameter identification；torque projection

0 引言

隨著裝備制造業(yè)對自動化和智能化需求的不斷提高，工業(yè)機器人被廣泛應用于裝配、噴涂、焊接、搬運等一系列工業(yè)生產(chǎn)活動中[1]。（剩余15901字）