论文部分内容阅读
动力学模型辨识是机器人控制设计的基础,是水下机器人研究的核心内容之一。以Falcon水下机器人的动力学模型为研究对象,在模型适当简化的基础上,提出基于小波级数模型的水下机器人动力学在线辨识方法,选取DOG(Derivative of Gaussian)小波作为小波函数,对Falcon水下机器人纵向自由度动力学模型进行自适应辨识。针对水下机器人动力学模型的时变特性,研究负载特性变化情况下的系统辨识,得出了基于DOG小波级数模型的水下机器人动力学在线算法更加有效。
Dynamic model identification is the basis of robot control design and is one of the core contents of underwater robot research. Taking Falcon underwater robot’s dynamics model as the research object, based on the model’s simplified model, an on-line robot dynamics on-line identification method based on wavelet series model is proposed. The DOG (Derivative of Gaussian) wavelet is selected as the wavelet function, Falcon underwater robot longitudinal freedom dynamics model adaptive identification. Aiming at the time-varying characteristics of underwater robot kinetic model, the system identification under the variation of load characteristics is studied, and the online algorithm of underwater robot dynamics based on DOG wavelet series model is more effective.