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Abstract: In order to identify the joint equivalent dynamic
parameters of the mechanic-electronic structural system reasonably and
precisely, a fuzzy method is presented. The 9 DOFs modular redundant
robot is taken as the researched object, and its joint equivalent
dynamic parameters are identified. The dynamic model of the robot is
obtained by using these identified joint parameters and the finite
element models of the modules of the robot. The comparison between the
analytical model with the experimental results shows the presented
method is reasonable and effective.
Key words: Fuzzy optimization Parameter identification Modular robot
CLC No: TH113.1
澳门大学研究基金资助项目(RG025/00－01S/LYM/FST).
Received 20020111, received in revised form 20020925
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