[1]陈俊杰,黄惟一,宋爱国,等.机器人系统中环境动力学模型及其参数辨识[J].东南大学学报(自然科学版),2002,32(1):64-68.[doi:10.3969/j.issn.1001-0505.2002.01.015]
 Chen Junjie,Huang Weiyi,Song Aiguo,et al.Dynamic model of environment and its parameters identification in robot systems[J].Journal of Southeast University (Natural Science Edition),2002,32(1):64-68.[doi:10.3969/j.issn.1001-0505.2002.01.015]
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机器人系统中环境动力学模型及其参数辨识()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
32
期数:
2002年第1期
页码:
64-68
栏目:
自动化
出版日期:
2002-01-20

文章信息/Info

Title:
Dynamic model of environment and its parameters identification in robot systems
作者:
陈俊杰1 黄惟一1 宋爱国1 芦俊2
1 东南大学仪器科学与工程系,南京 210096; 2 东南大学机械工程系,南京 210096
Author(s):
Chen Junjie1 Huang Weiyi1 Song Aiguo1 Lu Jun2
1 Department of Instrument Science and Engineering, Southeast University, Nanjing 210096,China
2 Department of Mechanical Engineering, Southeast University, Nanjing 210096,China
关键词:
环境 动力学模型 机器人 遗传算法 参数辨识
Keywords:
environment dynamic model robot genetic algorithm parameter identification
分类号:
TP242.6
DOI:
10.3969/j.issn.1001-0505.2002.01.015
摘要:
根据机器人系统中环境的本质特征, 本文提出了环境动力学既有刚体运动动力学特性, 又有表面形变动力学特性的观点; 由此建立了新的环境动力学模型,给出了该动力学模型参数辨识的遗传算法模型.理论分析和实验研究表明该模型及其参数辨识方法是实用的、可行的.
Abstract:
Based on the essential feature of environments in robot systems, this paper presents an idea that environment dynamics possesses both characters of kinetic dynamics and surface deformation dynamics of rigid body. A dynamic model of environment was built and a genetic algorithm model for its parameter identification was given. Theoretical analysis and experimental research show that the model and the parameter identification methods are practical and feasible.

参考文献/References:

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备注/Memo

备注/Memo:
基金项目: 国家“十五”863高技术项目(2001AA423240)、国家教委博士点基金课题资助项目(98028619).
作者简介: 陈俊杰(1958—),男,博士生,副教授,chen.jj@ntit.edu.cn; 黄惟一(联系人),教授,博士生导师,hhwy@seu.edu.cn.
更新日期/Last Update: 2002-01-20