Parameter Identification of Space Robot Based on Recursive Different Evolution Algorithm

摘要

Aiming at the identification and on-line revision problem of the characteristic parameter of the unknown object captured by the space robot and the friction parameter of the robot joint, a method of real-time patameter identification based on the recursive different evolution algorithm is proposed in this paper. Firstly,a static continuous friction model is introduced to model joint friction,and the nonlinear dynamics model of a two-joint space robot is established. Then the recursive different evolution algorithm,which is used to solved the parameter identification problem of the space robot,is deduced based on the different evolution and the maximum similar estimate algorithm. At last,the validity of the identification method is proved by simulation results. The simulation results show that the identification accuracy is better than genetic algorithms and least square method,and the identification rate can meet the teleoperation requirement. This identification method can follow the dynamic information exactly.