3关节单杠体操机器人的动力学参数辨识-控制理论与应用.PDF

25 2 Vol. 25 No. 2 2008 4 Control Theory Applications Apr. 2008 :2008 3 , , , (, 400044) : 3, . , , , , . ,, . , , 3. : 3; ; ; : TP18 : A Dynamic parameter identification of three-link acrobot on horizontal bar LI Zu-shu, ZHANG Hua, GU Jian-gong, CHEN Gui-qiang (College of Automation, Chongqing University, Chongqing 400044, China) Abstract: In modeling the three-link acrobot on horizontal bar using Lagrange equations, the accuracy of dynamic parameters plays an important role in the realization of a real-time control. In this paper, an improved genetic algorithm (IGA) is proposed for parameter identification. The IGA introduces some new operators such as hybrid encoding, variable- precision crossover, integration ideas of orthogonal experiment design, Hamming distance, dynamic encoding and large- size mutation with feedback. In addition, a novel fitness function is used to evaluate the solutions. Therefore, the IGA can be more robust, statistically rational, and easier in obtaining the solutions. Finally, by comparison of data between free response and numerical simulation of each joint, the IGA is shown to be effective in the determination of dynamic parameters of three-link acrobot on horizontal bar. Key words: three-link acrobat; dynamic parameters identification; improved genetic algorithm(IGA); fitness function 1 (Introduction) . , , , . Mayeda. H, (pendulum robot)(acrobot), Koji.Yoshida . 3 , M. Gautier, W. Khalil, ,