基于关节扭矩平衡的机器人末端负载建模及辨识

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中图分类号：TP242.2

DOI：10.3969/j.issn.1004-132X.2025.06.006 开放科学（资源服务）标识码（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

随着装备制造业对自动化和智能化需求的不断提高，工业机器人被广泛应用于装配、喷涂、焊接、搬运等一系列工业生产活动中[1]。（剩余15901字）