Parameter measurement and identification method and device of mechanical arm, terminal, and storage medium

Abstract

The invention provides a parameter identification method of a mechanical arm. The parameter identification method of the mechanical arm comprises the steps of defining an M-DH parameter, and writing out a homogeneous transformation matrix between joint coordinate systems; acquiring each theoretical joint angle value, substituting into a robot kinematics forward analysis model, and solving to obtain a theoretical terminal position and an error expression; measuring a practical terminal position, and solving an error value between the theoretical terminal position and the practical terminal position; measuring terminal positions of multiple groups of joint points, building a system of linear equations, and utilizing a least squares algorithm for solving an error value of the M-DH parameter;correcting the M-DH parameter, and utilizing the corrected M-DH parameter to obtain a corrected terminal position; and judging whether an error between the corrected terminal position and the practical terminal position is converged or not, and if yes, finishing the flow. The invention further provides a parameter measurement method and a parameter measurement device of the mechanical arm, a parameter identification device of the mechanical arm, a terminal device and a storage medium. By utilizing the embodiment of the invention, the parameter identification accuracy can be improved.

Description

technical field [0001] The present invention relates to the technical field of robots, in particular to a method and device for measuring parameters of a robot arm, a method and device for identifying parameters of a robot arm, a terminal, and a storage medium. Background technique [0002] This section is intended to provide a background or context for the implementation of the embodiments of the invention that are set forth in the claims and detailed description. The descriptions herein are not admitted to be prior art by inclusion in this section. [0003] With the vigorous development of my country's aerospace industry, the application of space robots is becoming more and more extensive. In complex environments, space robots are used to capture and repair satellites, assemble spacecraft, and assist astronauts to complete space experiments. . However, after the space robot enters the space flight orbit, due to the influence of the complex space environment such as extrem...

AI Technical Summary

Problems solved by technology

The extended Kalman filter method is used for kinematic parameter identification, which can deal with the uncertainty in parameter estimation, but this method does not consider the error distribution, sometimes the parameter identification accuracy is low, and it is easy to diverge

The Levenberg-Marquardt algorithm combines the gradient descent method and the Newton method, and the calculation occupies a large memory space

Based on the rotation center and rotation plane of the S model, and the introduction of methods such as the rotation radius, the algorithm is complex and the operation is difficult

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