基于高斯处理的触觉显示机器人摩擦力矩的动力学-天津科技大学学报.PDF

第 25 卷 第 2 期 天津科技大学学报 Vol.25 No. 2 2010 年 4 月 Journal of Tianjin University of Science Technology Apr. 2010 基于高斯处理的触觉显示机器人摩擦力矩的 动力学建模方法 李 亚，张振寰 (天津科技大学机械工程学院，天津 300222) 摘 要 ：通过建立准确的动力学模型可以显著地改善触觉显示机器人的控制性能．但由于其关节处的非线性动态摩 擦特性，传统建模方法精度较低．针对此问题，采用高斯处理算法，准确建立了高度非线性的触觉显示机器人摩擦力矩 动力学模型．单自由度的触觉显示机器人实验结果表明，其精度得到显著提高． 关键词 ：触觉显示机器人；非线性摩擦；高斯处理 中图分类号：TP242.2 文献标志码 ：A 文章编号 ：1672-6510 (2010)02-0053-04 Haptic Display Robot Nonlinear Friction Dynamics Modeling Based on Gaussian Process LI Ya ，ZHANG Zhen-huang (College of Mechanical Engineering ，Tianjin University of Science Technology ，Tianjin 300222 ，China) Abstract ：By means of establishing accurate dynamics model control performance of haptic display robot can be greatly improved. But due to the high nonlinear dynamics of the haptic display robot ，it is usually very hard to identify it. Aim to deal with this problem ，a novel device dynamics model was derived through analyzing the characteristics of nonlinear dy- namic friction at the joints. By implementing Gaussian Process algorithm ，the high nonlinear haptic device dynamics model was accurately identified. Experimental results of a one-degree-of-freedom haptic device show that its force display accuracy is greatly improved. Keywords ：haptic display robot ；nonlinear fricti