CN105259786B - The inertial parameter discrimination method and device of target to be identified - Google Patents

The inertial parameter discrimination method and device of target to be identified Download PDF

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CN105259786B
CN105259786B CN201510724520.1A CN201510724520A CN105259786B CN 105259786 B CN105259786 B CN 105259786B CN 201510724520 A CN201510724520 A CN 201510724520A CN 105259786 B CN105259786 B CN 105259786B
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rigid body
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CN105259786A (en
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马欢
张珩
李文皓
肖歆昕
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Institute of Mechanics of CAS
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Abstract

The invention discloses a kind of inertial parameter discrimination method of target to be identified and devices；Method therein includes：At the multiple moment for having the mechanical arm rotation of target to be identified in driving crawl, measure the angular momentum of each arm joint of mechanical arm and the angular momentum of spacecraft；The quality and centroid position of target to be identified are generated, and calculates the multiple rotary inertias for obtaining target to be identified according to preset kinematics model using multigroup angular momentum, the quality of the identification target currently generated and centroid position；The current operation inertia error of target to be identified is assessed according to the multiple rotary inertias currently obtained, when error does not meet predictive error requirement, it returns and generates simultaneously calculating process, otherwise, using the quality of the current rotary inertia, the target to be identified currently generated for calculating and obtaining and centroid position as the rotary inertia of target to be identified, quality and centroid position.Present invention saves the fuel of spacecraft preciousness, improve the inertial parameter identification precision of target to be identified and have comparatively ideal wide usage.

Description

The inertial parameter discrimination method and device of target to be identified
Technical field
The present invention relates to robot for space technologies, and in particular to a kind of inertial parameter discrimination method of target to be identified and The inertial parameter device for identifying of target to be identified.
Background technology
The mechanical arm of multi-arm section is usually provided in the spacecrafts such as satellite, spacecraft in orbit during, often It will appear the demand that unknown object (being referred to as noncooperative target or target to be identified) is captured using mechanical arm；Here Unknown object refer to that the inertial parameters such as quality, centroid position and rotary inertia are unknown (such as part unknown or all unknown) Target.
During control machinery arm captures unknown object, the inertia for picking out unknown object that should be accurately and timely is joined Number, otherwise, the crawl of unknown object can make the Mass Distribution of spacecraft that unpredictable variation occur, to give subsequent machine The planning of tool arm courses of action brings certain difficulty.
Currently, including mainly following three kinds to the discrimination method of the inertial parameter of unknown object：
Method one, using boost motor to unknown object apply external force while, measure spacecraft (such as satellite) posture Angular acceleration signal and moment information solve newton-using the angular acceleration signal obtained and moment information is measured later The Eulerian equation of motion, to obtain the inertial parameter of unknown object according to solving result.
Method two, when mechanical arm grabs unknown object, drive the arm joint of mechanical arm to rotate, and measure arm joint rotation before Then the attitudes vibration of spacecraft and change in location information afterwards are believed using the attitudes vibration and change in location that measure acquisition Breath calculates the inertial parameter of unknown object based on momentum and angular momentum conservation law.
Method three establishes sample database (such as establishing sample database using Kinematics Simulation), and utilizes each sample in sample database Multilayer feedforward neural network is trained；Mechanical arm capture unknown object when, using before aforementioned trained multilayer Godwards The inertial parameter of unknown object is recognized through network.
Inventor has found in realizing process of the present invention：
The above method one pushes unknown object due to needing using boost motor, can consume the fuel of spacecraft；Separately Outside, since the measurement accuracy of current angular acceleration signal and moment information is relatively low, lead to the inertia obtained using method one The precision of parameter is relatively low；
For the above method two due to needing sufficient amount of equation that can solve inertial parameter, therefore, it is necessary to repeatedly drive Swing arm section is moved, and inertial parameter identification process is more complex；In addition, since method two needs to obtain angular momentum and linear momentum, And it is lower in current linear momentum measurement accuracy, the precision for the inertial parameter that method two is obtained is relatively low；
The above method three is since the identification of its inertial parameter is established on the basis of sample database, to make cognizable unknown mesh Target range is restricted, i.e. the wide usage of this method is poor；In addition, higher and sample is more in mechanical arm arm joint degree of freedom When, the design difficulty and training difficulty of multilayer feedforward neural network are higher.
Invention content
In view of the above problems, it is proposed that the present invention overcoming the above problem in order to provide one kind or solves at least partly State the inertial parameter discrimination method and device of the target to be identified of problem.
One of according to the present invention aspect, provides a kind of inertial parameter discrimination method of target to be identified, the party Method includes mainly：The rotation for solving target to be identified for being provided with the conservation of angular momentum principle based on multi-rigid-body system and establishing is used The kinematics model of amount, and the method includes following step：
Measuring process：At the multiple moment for having the mechanical arm rotation of target to be identified in driving crawl, mechanical arm is measured respectively The angular momentum of each arm joint and be equipped with mechanical arm spacecraft angular momentum, wherein the multiple moment corresponding machine The angular momentum of spacecraft is divided into multigroup angular momentum, and one group of angular momentum where the angular momentum and mechanical arm of each arm joint of tool arm The angular momentum of spacecraft where generally including the angular momentum and mechanical arm of each arm joint of corresponding mechanical arm of more different moments；
It generates and calculates step：The quality and centroid position of target to be identified are generated, and utilizes multigroup angular momentum, current production The quality and centroid position of raw identification target are calculated separately using the kinematics model obtains the multiple of target to be identified Rotary inertia；
Judgment step：Target current operation inertia mistake to be identified is assessed according to the current multiple rotary inertias obtained that calculate Difference returns to the generation and calculates step when determining that the current operation inertia error does not meet predictive error requirement；True When the fixed current operation inertia error meets predictive error requirement, to determining inertial parameter step；
Determine inertial parameter step：Using the current rotary inertia obtained that calculates as the rotary inertia of target to be identified, and Using the quality of the target to be identified currently generated and centroid position as the quality of target to be identified and centroid position..
Wherein another aspect according to the present invention provides a kind of inertial parameter device for identifying of target to be identified, should Device includes：
Memory module, the solution target to be identified established suitable for storing the conservation of angular momentum principle based on multi-rigid-body system Rotary inertia kinematics model；
Measurement module, suitable for having multiple moment of the mechanical arm rotation of target to be identified, difference measuring machine in driving crawl The angular momentum of each arm joint of tool arm and be equipped with mechanical arm spacecraft angular momentum；
Wherein, spacecraft where the angular momentum and mechanical arm of each arm joint of corresponding mechanical arm of the multiple moment Angular momentum is divided into multigroup angular momentum, and one group of angular momentum includes the angular motion of each arm joint of corresponding mechanical arm of multiple and different moment The angular momentum of spacecraft where amount and mechanical arm；
Generate and computing module, be suitable for generating the quality and centroid position of target to be identified, and using multigroup angular momentum, when The quality and centroid position of the identification target of preceding generation are calculated separately using the kinematics model obtains target to be identified Multiple rotary inertias；
Judgment module, the current operation suitable for assessing target to be identified according to the current multiple rotary inertias for calculating acquisition are used Error is measured, when determining that the current operation inertia error does not meet predictive error requirement, triggering generates and computing module, makes production Raw and computing module executes generation and calculating operation again；Determining that the current operation inertia error meets predictive error requirement When, it triggers and determines that inertial parameter module executes corresponding operation；
Inertial parameter module is determined, suitable for the current rotary inertia obtained that calculates to be used to as the rotation of target to be identified Amount, and using the quality of the target to be identified currently generated and centroid position as the quality of target to be identified and barycenter position It sets.
The inertial parameter discrimination method and device of target to be identified provided by the invention at least have following advantages and beneficial Effect：The mechanical arm that the present invention has captured target to be identified by driving rotates, and utilizes each arm joint of mechanical arm measured Angular momentum and the angular momentum of spacecraft for being equipped with mechanical arm carry out subsequent inertial parameter identification, avoid by extrapolation While power realizes inertial parameter identification on the basis of target to be identified to push, it is thus also avoided that need to measure linear momentum and line is dynamic Measure the relatively low harmful effect to inertial parameter identification of accuracy of measurement；The present invention by using measure obtain multigroup angular momentum, when The movement of the quality of the target to be identified of preceding generation and centroid position in the pre-set rotary inertia for solving target to be identified Multiple rotary inertias of target to be identified are calculated on the basis of model, and are corresponded to based on the multiple rotary inertias currently obtained Current operation inertia error constantly adjust the quality and centroid position of the target to be identified currently generated, can make currently to produce The quality and centroid position of raw target to be identified constantly approach the true quality of target to be identified and centroid position, and are working as The quality and centroid position of the target to be identified of preceding generation constantly approach the feelings of target to be identified true quality and centroid position Under condition, calculated rotary inertia also can constantly approach the true rotary inertia of target to be identified, it follows that the present invention is true The realization process of the inertial parameter of fixed target to be identified is not influenced by factors such as sample databases, and can be quick and precisely The inertial parameter for picking out any target to be identified；To which technical solution provided by the invention is saving spacecraft preciousness While fuel, the inertial parameter identification precision of target to be identified is improved, and there is comparatively ideal wide usage.
Above description is only the general introduction of technical solution of the present invention, in order to better understand the technical means of the present invention, And can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can It is clearer and more comprehensible, below the special specific implementation mode for lifting the present invention.
Description of the drawings
By reading the detailed description of hereafter preferred embodiment, various other advantages and benefit are common for this field Technical staff will become clear.The attached drawing of the present embodiment only for the purpose of illustrating preferred embodiments, and is not regarded as It is limitation of the present invention.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings：
Fig. 1 is the inertial parameter discrimination method flow chart of present invention target to be identified；
Fig. 2 is the inertial parameter device for identifying schematic diagram of present invention target to be identified.
Specific implementation mode
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although showing the disclosure in attached drawing Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure Completely it is communicated to those skilled in the art.
The inertial parameter discrimination method of embodiment one, target to be identified.
The method of the present embodiment can make the spacecraft for being equipped with mechanical arm efficiently identify (such as in-orbit identification) to go out to wait distinguishing Know the inertial parameter of target (i.e. unknown object).The inertial parameter of target to be identified in the present embodiment refers to target to be identified Quality, centroid position and rotary inertia.The centroid position of target to be identified in the present embodiment is usually that the three-dimensional of barycenter is sat Mark, i.e., the quality and centroid position of target to be identified are four scalars.
Star arm coupled system is formed between spacecraft and mechanical arm in the present embodiment, for example, mechanical arm includes n-1 Arm joint (such as including the arm joint in connecting rod and joint), and this n-1 arm joint respectively by joint thereon (n-1 joint in total, It is referred to as rotary joint) it is sequentially connected (as hinged), and finally connect and be fixed on spacecraft, there is n-1 to be formed The star arm coupled system of a arm joint.
In the method for the present embodiment, it is previously provided with the kinematics model for the rotary inertia for solving target to be identified, and The kinematics model of the rotary inertia of solution target to be identified is advance according to the conservation of angular momentum principle of multi-rigid-body system It is arranged, i.e. the kinematics model of the rotary inertia of the solution target to be identified of the present embodiment is the angular momentum by multi-rigid-body system What conservation principle was transformed.Specifically, in the case that mechanical arm in the present embodiment grabs target to be identified, can incite somebody to action Spacecraft, mechanical arm and target to be identified regard a multi-rigid-body system as, are ignoring the compression of the Earth, atmospheric damping, sunlight In the case of the influence factors such as pressure and earth magnetic field, which is the conservation of angular momentum principle for meeting multi-rigid-body system , to which the present embodiment can solve mesh to be identified using the conservation of angular momentum principle of existing multi-rigid-body system to be arranged completely The kinematics model of target rotary inertia.
Below to the rotation for solving target to be identified is arranged using the conservation of angular momentum principle of existing multi-rigid-body system One specific example of the kinematics model (following referred to as kinematics models) of inertia is described in detail.
Setting star arm coupled system has n-1 arm joint (such as including the arm joint in connecting rod and joint), and this n-1 arm joint It is sequentially connected respectively by joint (such as hinge) thereon, and finally fixation is routed on spacecraft (being referred to as primary), Form multi-rigid-body system；Each arm joint only has one degree of freedom.The multi-rigid-body system includes n+1 rigid body, main Star is the 0th rigid body, and each arm joint is respectively the 1st rigid body to (n-1)th rigid body, and target to be identified is n-th of rigid body, and in machine In the case that tool arm stabilization grabs target to be identified, n-th of rigid body (target to be identified) and (n-1)th rigid body (most end end arms Section) between due to being fixedly connected and without relative motion.
Setting star arm coupled system is in trackless control thrust and without the in-orbit state of flight under attitude control moment loading, that is, sets The position and posture for determining primary are not controlled by boost motor or other external force.
The influence factors such as the setting compression of the Earth, atmospheric damping, solar light pressure and earth magnetic field, which are ignored, to be disregarded.
Shown in for example following formula (1) of conservation of angular momentum principle：
In above-mentioned formula (1), the value range of i is [0, n], rigid body quantity -1, h that n includes by multi-rigid-body systemi Indicate the angular momentum of i-th of rigid body (such as arm joint or connecting rod),Indicate the multi-rigid-body system of initial time (i.e. the 0th moment) Angular momentum, const indicate constant.
In every section of rigid body (i.e. primary, each arm joint and the target to be identified) in individually considering star arm coupled system, often The angular momentum of Duan Gangti all meets following formula (2)：
In above-mentioned formula (2), miIndicate the quality of i-th of rigid body, riIt indicates to be based on F-1I-th of rigid body barycenter position It sets, FIIndicate inertia space reference system, i.e. riIndicate the absolute position of the barycenter of i-th of rigid body, viIt indicates to be based on FII-th The systemic velocity (absolute velocity of the barycenter of i.e. i-th rigid body) of rigid body, AIiIt indicates from FiTo inertia space reference system FISeat Mark transformation matrix (FIIndicate inertia space reference system), IiIt indicates to be based on FiI-th of rigid body rotary inertia, andThe coordinate system (coordinate system of (i-1)-th connecting rod in such as mechanical arm) for indicating i-th of rigid body, for mechanical arm For, the tie point that the origin of the coordinate system of i-th of rigid body is fixed between (i-1)-th section of arm joint and i-th section of arm joint (closes Section) at, and the z-axis of the coordinate system and the rotary shaft of i-th section of arm joint are consistent, ΩiIt indicates to be based on FiI-th of rigid body angle Speed, AikIt indicates from FkTo FiTransformation matrix of coordinates, FkIndicate the coordinate system of k-th of rigid body,It indicates to be based on FkK-th Angular speed of the rigid body relative to -1 rigid body of kth.
R in above-mentioned formula (2)iIt can be indicated with following formula (3)：
In above-mentioned formula (3), r0It indicates to be based on FIPrimary centroid position, FIIndicate inertia space reference system, AIkTable Show from FkTo FiTransformation matrix of coordinates, FkIndicate the coordinate system of k-th of rigid body, lkIndicate the origin of the coordinate system of k-th of rigid body It is directed toward the vector of the origin of the coordinate system of+1 rigid body of kth, AIiIt indicates from FiTo inertia space reference system FICoordinate transform square Battle array, aiIndicate that the origin of the coordinate system of i-th of rigid body is directed toward the vector of the centroid position of i-th of rigid body.
V in above-mentioned formula (2)iIt can be indicated with following formula (4)：
In above-mentioned formula (4),Indicate the barycenter absolute position of i-th of rigid body to the first derivative of time namely i-th The speed of a rigid body,Indicate speed of the barycenter absolute position to the first derivative of time namely the 0th rigid body of the 0th rigid body Degree, AIkIt indicates from FkTo FiTransformation matrix of coordinates, FkIndicate the coordinate system of k-th of rigid body, ΩkIt indicates to be based on FkK-th just The angular speed of body, lkIndicate coordinate system (the i.e. F of k-th of rigid bodyk) origin be directed toward kth+1 rigid body coordinate system origin Vector, AIiIt indicates from FiTo inertia space reference system FITransformation matrix of coordinates, ΩiIt indicates to be based on FiI-th of rigid body angle speed Degree, aiIndicate coordinate system (the i.e. F of i-th of rigid bodyi) origin be directed toward i-th of rigid body centroid position vector, AkjIt indicates from Fk To FjTransformation matrix of coordinates,It indicates to be based on FjAngular speed of j-th of rigid body relative to -1 rigid body of jth, AijIndicate from FjTo FiTransformation matrix of coordinates, FjIndicate the coordinate system of j-th of rigid body, the origin of the coordinate system is -1 rigid body of jth and jth The junction (i.e. joint) of a rigid body, and the z-axis of the coordinate system and the rotary shaft of j-th of rigid body are consistent, FiIndicate i-th The coordinate system of a rigid body, the origin of the coordinate system are the junction (i.e. joint) of (i-1)-th rigid body and i-th of rigid body, and should The z-axis of coordinate system and the rotary shaft of i-th of rigid body are consistent.
In the centroid position for setting multi-rigid-body system as rGIn the case of, then there are following formula (5)：
In above-mentioned formula (5), rigid body quantity -1, m that n includes by multi-rigid-body systemiIndicate the matter of i-th of rigid body Amount, riIndicate the absolute position of the barycenter of i-th of rigid body.
The absolute position r of barycenter represented by each rigid body represented by formula (3) will be utilizediIt is updated to above-mentioned formula (5) Right side can obtain following formula (6)：
In above-mentioned formula (6), rigid body quantity -1, r that n includes by multi-rigid-body systemGFor the barycenter of multi-rigid-body system Position, r0It indicates to be based on F-1Primary centroid position, miIndicate the quality of i-th of rigid body, AIkIt indicates from FkTo FiCoordinate become Change matrix, FkIndicate the coordinate system of k-th of rigid body, lkIndicate that the origin of the coordinate system of k-th of rigid body is directed toward+1 rigid body of kth The vector of the origin of coordinate system, AIiIt indicates from FiTo inertia space reference system FITransformation matrix of coordinates, aiIndicate i-th of rigid body Coordinate system origin be directed toward i-th of rigid body centroid position vector.
By inertia space reference system FIIt establishes on the centroid position for the multi-rigid-body system carved at the beginning (even rG=0) In the case of, then it can obtain following formula (7)：
In above-mentioned formula (7), rigid body quantity -1, r that n includes by multi-rigid-body system0It indicates to be based on F-1Primary Centroid position, miIndicate the quality of i-th of rigid body, AIkIt indicates from FkTo FiTransformation matrix of coordinates, FkIndicate k-th rigid body Coordinate system, lkIndicate that the origin of the coordinate system of k-th of rigid body is directed toward the vector of the origin of the coordinate system of+1 rigid body of kth, AIiTable Show from FiTo inertia space reference system FITransformation matrix of coordinates, aiIndicate that the origin of the coordinate system of i-th of rigid body is directed toward i-th The vector of the centroid position of rigid body.
The r in above-mentioned formula (3) and formula (4) can be eliminated using above-mentioned formula (7)0。
In the multi-rigid-body system angular momentum for setting initial 0 momentAnd by each rigid body represented by formula (2) hiIn the case of substituting into formula (1), following formula (8) can be obtained：
Rotary inertia I to be solved is contained only in above-mentioned formula (8)n, the present embodiment is by rotary inertia InExtract it Afterwards, following formula (9) can be obtained：
In above-mentioned formula (9), n is rigid body quantity -1, A of multi-rigid-body systemInIt indicates from FnTo inertia space reference system FITransformation matrix of coordinates, InIt indicates to be based on FnN-th of rigid body rotary inertia, AnjIt indicates from FjTo FnCoordinate transform square Battle array, FnIndicate the coordinate system of n-th of rigid body,It indicates to be based on FjAngular speed of j-th of rigid body relative to -1 rigid body of jth, miIndicate the quality of i-th of rigid body, riIt indicates to be based on FII-th of rigid body centroid position, FIIndicate inertia space reference system, v0 It indicates to be based on FIThe 0th rigid body systemic velocity, AIkIt indicates from FkTo inertia space reference system FITransformation matrix of coordinates, Fk Indicate the coordinate system of k-th of rigid body, lkIndicate that the origin of the coordinate system of k-th of rigid body is directed toward the coordinate system of+1 rigid body of kth The vector of origin, AkjIt indicates from FjTo FkTransformation matrix of coordinates, FjIndicate the coordinate system of j-th of rigid body, AIiIt indicates from FiTo used Property space coordinates FITransformation matrix of coordinates, aiIndicate that the origin of the coordinate system of i-th of rigid body is directed toward the barycenter of i-th of rigid body The vector of position, AijIt indicates from FjTo FiTransformation matrix of coordinates.
Above-mentioned formula (9) is the kinematics model of the present embodiment.
It should be strongly noted that the kinematics model represented by above-mentioned formula (9) is only according to multi-rigid-body system One specific example of the kinematics model that conservation of angular momentum principle is derived, in practical applications, formula (9) are to exist The form of a variety of variations, the present embodiment does not limit the movement derived according to the conservation of angular momentum principle of multi-rigid-body system Learn the specific manifestation form of model.
Below by taking the kinematics model represented by formula (9) as an example, and the method for the present embodiment is said in conjunction with Fig. 1 It is bright.
In Fig. 1, S100, multiple moment that target to be identified is captured in mechanical arm measure the angle of each arm joint of mechanical arm respectively The angular momentum of spacecraft where momentum and mechanical arm.
Specifically, when mechanical arm grabs target to be identified, mechanical arm can be driven to rotate, and in driving mechanical arm rotation During turning, for it is multiple and different at the time of (be usually tens moment, such as 40 moment), measure each arm of mechanical arm respectively The angular momentum of spacecraft where the angular momentum and mechanical arm of section, and the angular motion for measuring and obtaining is stored according to the tandem at moment Amount, to obtain multiple angular momentums for each moment (such as sampling instant).For the sake of for convenience of description, the present embodiment is by one All angular momentums corresponding to a moment are known as an angular motion duration set, to which different moments correspond to different angular motion duration sets.
It (is usually tens that different moments corresponding angular motion duration set in the present embodiment, which can be divided into multiple groups, Group, such as 20 groups), and each group includes that multiple angular motion duration sets (it is corresponding to generally comprise tens different moments Angular motion duration set, such as 20 angular motion duration sets).It should be strongly noted that the angular motion duration set in different groups is that can have friendship Collection, such as first group of angular momentum includes the k angular motion duration set since the first moment corresponding angular motion duration set, and second group Angular momentum includes the k angular motion duration set since the second moment corresponding angular motion duration set, and so on.Certainly, this implementation The angular motion duration set that example is also not excluded in different groups does not have the possibility of intersection.
The equipment such as gyroscope may be used to measure angular momentum and the mechanical arm place of each arm joint of mechanical arm in the present embodiment The angular momentum of spacecraft, the angle of spacecraft where the present embodiment does not limit the angular momentum and mechanical arm of each arm joint of measuring machine tool arm The specific implementation of momentum.
S110, the quality and centroid position for generating target to be identified, and utilize multigroup angular momentum, the identification mesh currently generated Target quality and centroid position calculate separately the multiple rotations for obtaining target to be identified using pre-set kinematics model Inertia.
Specifically, the quality and matter that various ways (such as random fashion) generate target to be identified may be used in the present embodiment Heart position；In order to make generation target to be identified quality and centroid position approach as soon as possible the real quality of target to be identified with And random fashion may be used with the mode that intelligent optimization algorithm is combined to generate target to be identified in centroid position, the present embodiment Quality and centroid position.
One specific example of the quality and centroid position that generate target to be identified is：Target to be identified is being generated for the first time Quality and when centroid position, randomly generate the quality and centroid position of target to be identified, target to be identified generated for the first time non- Quality and when centroid position, according to the quality and centroid position of the target to be identified generated before and can correspondingly rotate Inertia error generates the quality and centroid position of target to be identified using intelligent optimization algorithm.Here intelligent optimization algorithm can be with For genetic algorithm etc..The present embodiment does not limit the specific manifestation form of intelligent optimization algorithm.
The present embodiment can utilize one group of angular momentum and pre-set kinematics model to calculate target to be identified One rotary inertia, to calculate the multiple of target to be identified using multigroup angular momentum and pre-set kinematics model Rotary inertia.
A rotary inertia of target to be identified is calculated using one group of angular momentum and pre-set kinematics model A specific example it is as follows：
Setting s and d respectively includes three independent components, and s and d can by following formula (10) and formula (11) come It indicates：
In above-mentioned formula (10), rigid body quantity -1, A that n includes by multi-rigid-body systemnjIt indicates from FjTo FnCoordinate Transformation matrix, FnIndicate the coordinate system of n-th of rigid body (being usually target to be identified),It indicates to be based on FjJ-th just Angular speed of the body relative to -1 rigid body of jth.
In above-mentioned formula (11), rigid body quantity -1, A that n includes by multi-rigid-body system-1 InIndicate AInInverse, AInTable Show from FnTo inertia space reference system FITransformation matrix of coordinates, miIndicate the quality of i-th of rigid body, riIt indicates to be based on FII-th The centroid position of a rigid body, FIIndicate inertia space reference system, i.e. riIndicate the absolute position of the barycenter of i-th of rigid body, v0It indicates Based on FIThe 0th rigid body systemic velocity (absolute velocity of the barycenter of i.e. the 0th rigid body, and the 0th rigid body it is usual based on Star), AIkIt indicates from FkTo FiTransformation matrix of coordinates, FkIndicate the coordinate system of k-th of rigid body, lkIndicate the coordinate of k-th of rigid body The origin of system is directed toward the vector of the origin of the coordinate system of+1 rigid body of kth, ΩkIt indicates to be based on FkK-th of rigid body angular speed, AIiIt indicates from FiTo inertia space reference system FITransformation matrix of coordinates (FIWith F-1Indicate inertia space reference system), aiIt indicates The origin of the coordinate system of i-th of rigid body is directed toward the vector of the centroid position of i-th of rigid body, IiIt indicates to be based on FiI-th rigid body Rotary inertia, andIndicate the coordinate system (coordinate of (i-1)-th connecting rod in such as mechanical arm of i-th of rigid body System), for mechanical arm, the origin of the coordinate system of i-th of rigid body be fixed on (i-1)-th section of arm joint and i-th section of arm joint it Between tie point (i.e. joint) at, and the z-axis of the coordinate system and the rotary shaft of i-th section of arm joint are consistent, ΩiIt indicates to be based on Fi I-th of rigid body angular speed, AikIt indicates from FkTo FiTransformation matrix of coordinates, FkIndicate the coordinate system of k-th of rigid body,Table Show and is based on FjAngular speed of j-th of rigid body relative to -1 rigid body of jth, AijIt indicates from FjTo FiTransformation matrix of coordinates.
It follows that above-mentioned formula (9) can be converted into the form of following formula (12)：
InS=d
Formula (12)
Using the quality of the target to be identified currently generated and centroid position as the quality m of target to be identifiednAnd barycenter Position rnIn the case of, s and d in above-mentioned formula (12) are not present unknown parameter, and only InIt is variable to be solved.By In the I solvednMay not be the true rotary inertia of target to be identified, therefore, we will be asked using kinematics model The rotary inertia of the target to be identified solved usesTo indicate.The present embodiment can incite somebody to actionIt can be expressed as following formula (13) Form：
In above-mentioned formula (13), I11、I22、I33、I12、I13And I23Indicate six in the rotary inertia of target to be identified A independent component.
Above-mentioned s can be expressed as [s1 s2 s3]TForm, s therein1、s2And s3For s (s=[s1 s2 s3]T) in Three independent components, and these three independent components form square when being set as stating form shown in formula (14) Battle array S：
In above-mentioned formula (15), d1、d2And d3For three independent components in d.
Above-mentioned formula (12) can be converted into the form of following formula (16)：
Above-mentioned formula (13), formula (14) and formula (15), which are brought into above-mentioned formula (16), can obtain following formula (17)：
There are six unknown numbers, i.e. I in above-mentioned formula (17)11、I22、I33、I12、I13And I23, indicated by formula (17) In the case of at equation equation group, only there are three equations.Obvious formula (17) does not have unique solution.However, one group of angle is utilized After multiple or all angular motion duration sets (i.e. simultaneous the data at more moment) in momentum, the present embodiment can obtain more Multigroup formula, to make formula (17) that there is unique solution.
Set S*Indicate the matrix being made of the S of different moments, and d*Indicate the matrix being made of the d of different moments, then S* And d*Respectively as shown in following formula (18) and formula (19)：
In above-mentioned formula (18) and formula (19), the subscript (1) and subscript (t) of alphabetical S and d indicate the moment, immediately 1 and moment t is carved, t therein is usually tens, and such as 20.
After the data at simultaneous multiple moment, following formula (20) can be obtained：
When the data of different moments are enough, it is ensured that above-mentioned formula (20) is full rank, so as to utilize formula (20) column vector form of the rotary inertia of target to be identified is calculated
The specific example that the rotary inertia of target to be identified is calculated using formula (20) is：Seek above-mentioned formula (20) least square solution, and using the least square solution as the column vector of the rotary inertia of this calculated target to be identified FormShown in for example following formula (21) of the least square solution of above-mentioned formula (20)：
In above-mentioned formula (21), S*TIndicate S*Transposed matrix, (*)-1Representing matrix (*) it is inverse.
S120, the current operation inertia error that target to be identified is assessed according to the current multiple rotary inertias for calculating acquisition, When determining that current operation inertia error does not meet predictive error requirement, S110 is returned；Determining current operation inertia error symbol When closing predictive error requirement, following step S130 is arrived.
Specifically, the quality and centroid position due to target to be identified are unknown, and for calculating in above-mentioned S110 The quality and centroid position of the target to be identified of rotary inertia are produced based on modes such as random fashion or intelligent optimization algorithms It is raw, therefore, used in S110 to target to be identified quality and centroid position be likely to not be mesh to be identified True quality and centroid position are marked, not is that the true quality of target to be identified and centroid position are calculated to utilize The rotary inertia of target to be identified out will not be the true rotary inertia of target to be identified.It follows that the present embodiment The rotary inertia of calculated target to be identified in above-mentioned S110 should be verified, can be promoted by the verification to rotary inertia The present embodiment is set constantly to carry out the calculating of the rotary inertia of target to be identified by S110, and calculated target to be identified Rotary inertia can constantly approach the true rotary inertia of target to be identified, until the quality of target to be identified caused by S110 It is substantially the true quality of target to be identified and centroid position with centroid position, in this way, calculated target to be identified turns Dynamic inertia is substantially the true rotary inertia of target to be identified.
The theoretical foundation that the present embodiment verifies the rotary inertia of target to be identified is：In the quality of target to be identified When differing greatly with this four scalars of centroid position and the true quality of target to be identified and centroid position, such four are utilized Scalar for different moments angular momentum (i.e. different groups of angular momentums) the rotary inertia of calculated target to be identified can not phase With (may differ greatly)；And substantially approach target to be identified in the quality of target to be identified and centroid position this four scalars When true quality and centroid position (or the true quality of target to be identified and centroid position), marked using such four Metering pin to the angular momentums of different moments calculated target to be identified rotary inertia it is substantially the same (i.e. difference is very small). That is, in (i.e. different groups of angular momentum for being directed to different moments using the true quality of target to be identified and centroid position Angular momentum) carry out target to be identified rotary inertia calculating when, multiple rotary inertias of calculated target to be identified are (as most Small two multiply solution) can be just identical, and the quality of the target to be identified generated and centroid position get over approaching to reality value, then not Corresponding solving result can approach the actual value of the rotary inertia of target to be identified from all directions in the same time.
Based on above-mentioned theory basis, the present embodiment is based on using the quality and centroid position of identical target to be identified Multigroup angular momentum calculate separately multiple targets to be identified rotary inertia assess target to be identified current operation inertia miss Difference.
The specific example that the present embodiment assesses the current operation inertia error of target to be identified is：It is waited for for identical The quality and centroid position of identification target calculate separately out the rotary inertia of multiple targets to be identified based on multigroup angular momentumPoint It does not solve multipleIn each component (six components) variance, then, then calculate the sum of the variance of six components, the variance The sum of be target to be identified current operation inertia error.
After assessment obtains the current operation inertia error of target to be identified, it is predetermined should to judge whether the error meets Error requirements, such as the sum of judge calculated variance and whether be less than predictive error threshold value；Make a reservation for miss judging that error meets In the case that difference requires, step S130 is arrived；In the case where judging that error is unsatisfactory for predictive error requirement, step S110 is arrived, Continue to generate new quality and centroid position (such as generating new quality and centroid position by intelligent optimization algorithm), and is based on Current newly generated quality and centroid position calculate multiple rotary inertias of target to be identified again.
S130, the rotary inertia obtained current will be calculated as the rotary inertia of target to be identified, and will currently generate Quality and centroid position of the quality and centroid position of target to be identified as target to be identified.
Specifically, in the case where calculated error meets predictive error requirement, the present embodiment will can currently calculate A rotary inertia final as target to be identified in multiple rotary inertias of the target to be identified gone out, such as will be calculated The rotary inertia final as target to be identified closest to the rotary inertia of predictive error threshold value；The present embodiment can also be to current Multiple rotary inertias of calculated target to be identified carry out COMPREHENSIVE CALCULATING, and the result that COMPREHENSIVE CALCULATING is gone out is as mesh to be identified Mark final rotary inertia.
The inertial parameter discrimination method of embodiment two, target to be identified.
First, multiple moment of target to be identified are captured in mechanical arm, respectively measure each arm joint of mechanical arm angular momentum with And the angular momentum of spacecraft where mechanical arm.
Secondly, the quality and centroid position of target to be identified are generated.The non-quality for generating target to be identified for the first time with And when centroid position, can may include using the basic genetic algorithmic of real value coding, the realization process of basic genetic algorithmic：Base In linear ordering to distribute fitness, and selected with wheel disc bet method, limit optimization section be the quality of conservative estimation with The bounds etc. of centroid position.The present embodiment does not limit the specific implementation process of basic genetic algorithmic.
Again, S and d are calculated separately using the measurement data of i different moments, obtains S(1),...,S(i)And d(1),...,d(i)；
Later, respectively from S(1)And d(1)Start k S and d before taking to be combined intoWithAnd profit Use S*(1)And d*(1)Equation group is constituted, is solved corresponding
Followed by, respectively from S(2)And d(2)Start k S and d before taking to be combined intoWith And utilize S*(2)And d*(2)Equation group is constituted, is solved corresponding
And so on, k different S is chosen repeatedly and d is combined into different matrixes, constitutes different equation groups, is solved Different rotary inertias, until whole i moment measurement data all participated in solve rotary inertia calculating, will eventually get(i-k) organizes solving result altogether, that is, obtains variableCapacity be (i-k) one group of sample.
Then, it calculatesIn the sum of 6 independent respective variances of component, the sum of the variance can pass through following formula (22) it indicates：
In above-mentioned formula (22), σ (*) is the variance of *；ForThe variable that the value of s-th of component is constituted, with Possess the equal sample of capacity.
Above-mentioned formula (22) is to use the object function optimized needed for Optimization Method problem, that is to say, that makes public affairs When formula (22) has minimum value, the present embodiment can accurately determine quality, centroid position and the rotation of target to be identified Inertia.
In practical applications, it is tested by multiple data simulation it is found that about taking 40 or so, k about to take 20 or so in i In the case of, the error assessment result that substantially can relatively be stablized.In addition, the population rule in the basic genetic algorithmic used In the case that mould is 500, maximum iteration 100, crossover probability are 0.25 and mutation probability is 0.01, demonstrate,proved through experiment Real, the inertial parameter of the target to be identified finally obtained using the method for the present embodiment has higher precision.
The inertial parameter device for identifying of embodiment three, target to be identified.The structure of the device is as shown in Figure 2.
In Fig. 2, the inertial parameter device for identifying of the target to be identified of the present embodiment includes mainly：Memory module 200 measures Module 210 generates simultaneously computing module 220, judgment module 230 and determines inertial parameter module 250.
Memory module 200 is primarily adapted for storing the conservation of angular momentum principle based on multi-rigid-body system and solving for establishing waits distinguishing Know the kinematics model of the rotary inertia of target.
Specifically, the kinematics model stored in memory module 200 can be indicated with following formula：
In above-mentioned formula, n is rigid body quantity -1, A of multi-rigid-body systemInIt indicates from FnTo inertia space reference system FI's Transformation matrix of coordinates, InIt indicates to be based on FnN-th of rigid body rotary inertia, AnjIt indicates from FjTo FnTransformation matrix of coordinates, Fn Indicate the coordinate system of n-th of rigid body,It indicates to be based on FjAngular speed of j-th of rigid body relative to -1 rigid body of jth, miIt indicates The quality of i-th of rigid body, riIt indicates to be based on FII-th of rigid body centroid position, FIIndicate inertia space reference system, v0It indicates Based on FIThe 0th rigid body systemic velocity, AIkIt indicates from FkTo inertia space reference system FITransformation matrix of coordinates, FkIt indicates The coordinate system of k-th of rigid body, lkIndicate that the origin of the coordinate system of k-th of rigid body is directed toward the origin of the coordinate system of+1 rigid body of kth Vector, AkjIt indicates from FjTo FkTransformation matrix of coordinates, FjIndicate the coordinate system of j-th of rigid body, AIiIt indicates from FiTo inertia sky Between coordinate system FITransformation matrix of coordinates, aiIndicate that the origin of the coordinate system of i-th of rigid body is directed toward the centroid position of i-th of rigid body Vector, AijIt indicates from FjTo FiTransformation matrix of coordinates.
Measurement module 210 is primarily adapted for the multiple moment for the mechanical arm rotation for having target to be identified in driving crawl, respectively It measures the angular momentum of each arm joint of mechanical arm and the angular momentum of the spacecraft of mechanical arm is installed.
Specifically, when mechanical arm grabs target to be identified, mechanical arm can be driven to rotate, and in driving mechanical arm rotation During turning, for it is multiple and different at the time of (be usually tens moment, such as 40 moment), measurement module 210 is surveyed respectively The angular momentum of spacecraft where measuring the angular momentum and mechanical arm of each arm joint of mechanical arm, and store and measure according to the tandem at moment The angular momentum of acquisition, to which measurement module 210 obtains multiple angular momentums for each moment (such as sampling instant).For description For the sake of convenient, all angular momentums corresponding to a moment are known as an angular motion duration set by the present embodiment, to different moments Corresponding different angular motion duration set.
The different moments corresponding angular motion duration set stored in measurement module 210 can be divided into multiple groups Tens groups, such as 20 groups), and each group includes that multiple angular motion duration sets (generally comprise tens different moments difference Corresponding angular motion duration set, such as 20 angular motion duration sets).It should be strongly noted that the angular motion duration set in different groups is can To there is intersection, such as first group of angular momentum includes the k angular motion duration set since the first moment corresponding angular motion duration set, and Second group of angular momentum includes the k angular motion duration set since the second moment corresponding angular motion duration set, and so on.Certainly, The angular motion duration set that the present embodiment is also not excluded in different groups in measurement module 210 does not have the possibility of intersection.
The equipment such as gyroscope may be used to measure angular momentum and the mechanical arm institute of each arm joint of mechanical arm in measurement module 210 In the angular momentum of spacecraft, the present embodiment does not limit the angular momentum and mechanical arm that measurement module 210 measures each arm joint of mechanical arm The specific implementation of the angular momentum of place spacecraft.
It generates and computing module 220 is primarily adapted for generating the quality and centroid position of target to be identified, and utilize multigroup angle Momentum, the quality of the identification target currently generated and centroid position using the kinematics model calculate separately obtain it is to be identified Multiple rotary inertias of target.
Target to be identified is generated specifically, generating simultaneously computing module 220 and various ways (such as random fashion) may be used Quality and centroid position；In order to make generation target to be identified quality and centroid position approach target to be identified as soon as possible Real quality and centroid position, generate and computing module 220 may be used what random fashion was combined with intelligent optimization algorithm Mode generates the quality and centroid position of target to be identified.
It generates and computing module 220 generates the quality of target to be identified and a specific example of centroid position is： When generating the quality and centroid position of target to be identified for the first time, the matter that simultaneously computing module 220 randomly generates target to be identified is generated Amount and centroid position generate in the non-quality and centroid position for generating target to be identified for the first time and computing module 220 can roots According to the target to be identified generated before quality and centroid position and correspondingly rotate inertia error utilize intelligent optimization algorithm Generate the quality and centroid position of target to be identified.Here intelligent optimization algorithm can be genetic algorithm etc..The present embodiment is not Limit the specific manifestation form of intelligent optimization algorithm.
It generates and computing module 220 can utilize one group of angular momentum and pre-set kinematics model to calculate and wait distinguishing A rotary inertia for knowing target, to calculate mesh to be identified using multigroup angular momentum and pre-set kinematics model The multiple rotary inertias of target.
It generates and computing module 220 calculates mesh to be identified using one group of angular momentum and pre-set kinematics model Description in the specific example such as above-described embodiment one of one rotary inertia of target, this will not be repeated here.
Judgment module 230 is primarily adapted for assessing the current of target to be identified according to the current multiple rotary inertias obtained that calculate Rotary inertia error, when determining that current operation inertia error does not meet predictive error requirement, triggering generates simultaneously judgment module 230 Computing module 220 makes generation and computing module 220 execute the operation for generating and calculating again；Judgment module 230 is worked as in determination When preceding rotary inertia error meets predictive error requirement, triggers and determine that inertial parameter module 240 executes corresponding operation.
Specifically, judgment module 230 reply generate and the calculated target to be identified of computing module 220 rotary inertia into Row verification can promote the present embodiment constantly to be waited for by generation and computing module 220 by the verification to rotary inertia The calculating of the rotary inertia of target is recognized, and the rotary inertia of calculated target to be identified can constantly approach target to be identified True rotary inertia, until generating the quality of target to be identified and centroid position caused by simultaneously computing module 220 substantially For the true quality of target to be identified and centroid position, in this way, generating and the calculated target to be identified of computing module 220 turns Dynamic inertia is substantially the true rotary inertia of target to be identified.
The theoretical foundation that judgment module 230 verifies the rotary inertia of target to be identified is：In target to be identified When quality and this four scalars of centroid position differ greatly with the true quality of target to be identified and centroid position, generates and calculate Module 220 is directed to angular momentum (i.e. different groups of angular momentums) calculated mesh to be identified of different moments using such four scalars Target rotary inertia can be differed and (may be differed greatly)；And in the quality of target to be identified and centroid position this four scalar bases The true quality of target to be identified and centroid position (or the true quality of target to be identified and centroid position) are approached on this When, generate simultaneously angular momentum institute calculated to be identified mesh of the computing module 220 using such four scalars for different moments Target rotary inertia is substantially the same (i.e. difference is very small).That is, utilizing mesh to be identified generating simultaneously computing module 220 It marks true quality and centroid position and carries out target to be identified to be directed to the angular momentum (i.e. different groups of angular momentums) of different moments When the calculating of rotary inertia, multiple rotary inertias (such as least square solution) of calculated target to be identified can be just identical , and generate and the quality of target to be identified that computing module 220 generates and centroid position get over approaching to reality value, then different moments Corresponding solving result can approach the actual value of the rotary inertia of target to be identified from all directions.
Based on above-mentioned theory basis, judgment module 230 is in the quality and centroid position using identical target to be identified Calculated separately based on multigroup angular momentum multiple targets to be identified rotary inertia assess target to be identified current operation it is used Measure error.
The example that judgment module 230 assesses the current operation inertia error of target to be identified is：230 needle of judgment module Quality and centroid position to identical target to be identified calculate separately out turning for multiple targets to be identified based on multigroup angular momentum Dynamic inertiaIt solves respectively multipleIn each component (six components) variance, then, judgment module 230 calculates six again The sum of the variance of a component, the sum of the variance are the current operation inertia error of target to be identified.
Judgment module 230 should judge the error after assessment obtains the current operation inertia error of target to be identified Whether predictive error requirement is met, such as judgment module 230 judges whether the sum of calculated variance is less than predictive error threshold value； In the case where judgment module 230 judges that error meets predictive error requirement, notify to determine inertial parameter module 240；Sentencing In the case that disconnected module 230 judges that error is unsatisfactory for predictive error requirement, triggering generates and computing module 220, that is, generates simultaneously Computing module 220 continues to generate new quality and centroid position (such as generates new quality and barycenter position by intelligent optimization algorithm Set), and multiple rotary inertias of target to be identified are calculated based on current newly generated quality and centroid position again.
Determine that inertial parameter module 240 is primarily adapted for turning the current rotary inertia obtained that calculates as target to be identified Dynamic inertia, and using the quality of the target to be identified currently generated and centroid position as the quality of target to be identified and barycenter Position.
Specifically, determining inertial parameter in the case where 230 calculated error of judgment module meets predictive error requirement Module 240 can be final as target to be identified by one in multiple rotary inertias of current calculated target to be identified Rotary inertia such as determines inertial parameter module 240 using the calculated rotary inertia closest to predictive error threshold value as waiting distinguishing Know the final rotary inertia of target；In addition, determining that inertial parameter module 240 can also be to current calculated target to be identified Multiple rotary inertias carry out COMPREHENSIVE CALCULATING, and the rotary inertia that the result that COMPREHENSIVE CALCULATING is gone out is final as target to be identified.
Provided herein algorithm and display not with the intrinsic phase of any certain computer, virtual system or miscellaneous equipment It closes.Various general-purpose systems can also be used together with teaching based on this.As described above, this kind of system is constructed to be wanted The structure asked is obvious.In addition, the present invention is not also directed to any certain programmed language.It should be understood that can utilize each Kind programming language realizes the content of invention described herein, and the description done above to language-specific is to disclose this The preferred forms of invention.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that the implementation of the present invention Example can be put into practice without these specific details.In some instances, well known method, structure is not been shown in detail And technology, so as not to obscure the understanding of this description.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of each inventive aspect, Above in the description of exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes In example, figure or descriptions thereof.However, the method for the disclosure should be construed to reflect following intention：It is i.e. required to protect Shield the present invention claims the more features of feature than being expressly recited in each claim.More precisely, as following Claims reflect as, inventive aspect is all features less than single embodiment disclosed above.Therefore, Thus the claims for following specific implementation mode are expressly incorporated in the specific implementation mode, wherein each claim itself All as a separate embodiment of the present invention.
Those skilled in the art, which are appreciated that, to carry out adaptively the module in the equipment in embodiment Change and they are arranged in the one or more equipment different from the embodiment.It can be the module or list in embodiment Member or component be combined into a module or unit or component, and can be divided into addition multiple submodule or subelement or Sub-component.Other than such feature and/or at least some of process or unit exclude each other, it may be used any Combination is disclosed to all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so to appoint Where all processes or unit of method or equipment are combined.Unless expressly stated otherwise, this specification (including adjoint power Profit requires, abstract and attached drawing) disclosed in each feature can be by providing the alternative features of identical, equivalent or similar purpose come generation It replaces.
In addition, it will be appreciated by those of skill in the art that although embodiment described herein includes institute in other embodiments Including certain features rather than other feature, but the combination of the feature of different embodiment means to be in the scope of the present invention Within and form different embodiments.For example, in the following claims, embodiment claimed it is arbitrary it One mode can use in any combination.
The all parts embodiment of the present invention can be with hardware realization, or to run on one or more processors Software module realize, or realized with combination thereof.It will be understood by those of skill in the art that can use in practice Microprocessor or digital signal processor (DSP) realize that the inertial parameter of target to be identified according to the ... of the embodiment of the present invention is distinguished Some or all functions in identification device.The present invention is also implemented as the part for executing method as described herein Either whole equipment or program of device (such as computer program and computer program product).Such journey for realizing the present invention Sequence can may be stored on the computer-readable medium, or can be with the form of one or more signal.Such signal can It is obtained, can also be provided on carrier signal, or provided in any other forms with being downloaded from the website of internet.
It should be noted that above-described embodiment is that the present invention will be described rather than limits the invention, and Those skilled in the art can design alternative embodiment without departing from the scope of the appended claims.In claim In, any reference mark between bracket should not be configured to limitations on claims.Word "comprising" is not excluded for depositing In elements or steps etc. not listed in the claims.Word "a" or "an" before element does not exclude the presence of more A such element.The present invention can be by means of including the hardware of several different elements and by means of properly programmed calculating Machine is realized.In the unit claims listing several devices, several in these devices can be by same Hardware branch embodies.The use of word first, second and third etc. does not indicate that any sequence.These words can be explained For title.

Claims (8)

1. a kind of inertial parameter discrimination method of target to be identified, which is characterized in that the method includes：
At the multiple moment for having the mechanical arm rotation of target to be identified in driving crawl, the angular momentum of each arm joint of mechanical arm is measured respectively And the angular momentum of the spacecraft of mechanical arm is installed, form multigroup angular momentum；Each arm joint of mechanical arm is formed with spacecraft Multi-rigid-body system；
The quality and centroid position of target to be identified are generated, and utilizes multigroup angular momentum, the quality of the identification target currently generated And centroid position calculates separately the multiple rotary inertias for obtaining target to be identified based on kinematics model；
Target current operation inertia error to be identified is assessed, and re-executes the operation of above-mentioned generation and calculating according to assessment result Or using the quality of the target to be identified currently generated and centroid position as the quality of target to be identified and centroid position, And using the current rotary inertia obtained that calculates as the rotary inertia of target to be identified；
Wherein, described to utilize the movement using multigroup angular momentum, the quality of the identification target currently generated and centroid position It learns model and calculates separately and obtain multiple rotary inertias of target to be identified and include：
For one group of angular momentum, using the angular momentum of different moments each arm joint of corresponding mechanical arm in this group of angular momentum with And the quality and centroid position calculation formula of the angular momentum of spacecraft where mechanical arm, the identification target currently generatedLeast square solutionThe least square solutionAs this is counted One rotary inertia of the target to be identified calculated：
Wherein,I11、I22、I33、I12、I13And I23Indicate that this calculated is waited for Six independent components in the rotary inertia of target are recognized,S(1)When to be based in one group of angular momentum first The S at quarter, S(t)For the S based on t-th of moment in one group of angular momentum,N is multi-rigid body system Rigid body quantity -1 of system,d(1)For d, d based on first moment in one group of angular momentum(t)To be based on one group of angular motion The d at t-th of moment in amount, d include d1、d2And d3Three components；
Wherein, AnjIt indicates from FjTo FnTransformation matrix of coordinates,It indicates to be based on FjJ-th of rigid body relative to -1 rigid body of jth Angular speed, A-1 InIndicate AInInverse, AInIt indicates from FnTo inertia space reference system FITransformation matrix of coordinates, InExpression is based on FnN-th of rigid body rotary inertia, miIndicate the quality of i-th of rigid body, riIt indicates to be based on FII-th of rigid body barycenter position It sets, FIIndicate inertia space reference system, v0It indicates to be based on FIThe 0th rigid body systemic velocity, AIkIt indicates from FkTo inertial space Coordinate system FITransformation matrix of coordinates, FkIndicate the coordinate system of k-th of rigid body, lkIndicate that the origin of the coordinate system of k-th of rigid body refers to To the vector of the origin of the coordinate system of+1 rigid body of kth, ΩkIt indicates to be based on FkK-th of rigid body angular speed, AIiIt indicates from Fi To inertia space reference system FITransformation matrix of coordinates, aiIndicate origin i-th of rigid body of direction of the coordinate system of i-th of rigid body The vector of centroid position, IiIt indicates to be based on FiI-th of rigid body rotary inertia, ΩiIt indicates to be based on FiI-th of rigid body angle Speed, AkjIt indicates from FjTo FkTransformation matrix of coordinates, AijIt indicates from FjTo FiTransformation matrix of coordinates, FnIndicate n-th just The coordinate system of body, FjIndicate the coordinate system of j-th of rigid body, FiIndicate the coordinate system of i-th of rigid body.
2. a kind of inertial parameter discrimination method of target to be identified, which is characterized in that be provided with the angular motion based on multi-rigid-body system Amount conservation principle and the kinematics model of the rotary inertia of solution target to be identified established, and the method includes following steps Suddenly：
Measuring process：At the multiple moment for having the mechanical arm rotation of target to be identified in driving crawl, each arm of mechanical arm is measured respectively The angular momentum of section and be equipped with mechanical arm spacecraft angular momentum, wherein the multiple moment corresponding mechanical arm The angular momentum of spacecraft is divided into multigroup angular momentum where the angular momentum and mechanical arm of each arm joint, and one group of angular momentum is usual The angular momentum of spacecraft where angular momentum and mechanical arm including each arm joint of corresponding mechanical arm of more different moments；
It generates and calculates step：Generate the quality and centroid position of target to be identified, and using multigroup angular momentum, currently generate The quality and centroid position for recognizing target calculate separately the multiple rotations for obtaining target to be identified based on the kinematics model Inertia；
Judgment step：Target current operation inertia error to be identified is assessed according to the current multiple rotary inertias obtained that calculate, When determining that the current operation inertia error does not meet predictive error requirement, returns to the generation and calculate step；Determining When stating current operation inertia error and meeting predictive error requirement, to determining inertial parameter step；
Determine inertial parameter step：Using the current rotary inertia obtained that calculates as the rotary inertia of target to be identified, and will work as Quality and centroid position of the quality and centroid position of the target to be identified of preceding generation as target to be identified；
Wherein, described to utilize the movement using multigroup angular momentum, the quality of the identification target currently generated and centroid position It learns model and calculates separately and obtain multiple rotary inertias of target to be identified and include：
For one group of angular momentum, using the angular momentum of different moments each arm joint of corresponding mechanical arm in this group of angular momentum with And the quality and centroid position calculation formula of the angular momentum of spacecraft where mechanical arm, the identification target currently generatedLeast square solutionThe least square solutionAs this is counted One rotary inertia of the target to be identified calculated：
Wherein,I11、I22、I33、I12、I13And I23Indicate that this calculated is waited for Six independent components in the rotary inertia of target are recognized,S(1)When to be based in one group of angular momentum first The S at quarter, S(t)For the S based on t-th of moment in one group of angular momentum,N is multi-rigid body system Rigid body quantity -1 of system,d(1)For d, d based on first moment in one group of angular momentum(t)To be based on one group of angular motion The d at t-th of moment in amount, d include d1、d2And d3Three components；
Wherein, AnjIt indicates from FjTo FnTransformation matrix of coordinates,It indicates to be based on FjJ-th of rigid body relative to -1 rigid body of jth Angular speed, A-1 InIndicate AInInverse, AInIt indicates from FnTo inertia space reference system FITransformation matrix of coordinates, InExpression is based on FnN-th of rigid body rotary inertia, miIndicate the quality of i-th of rigid body, riIt indicates to be based on FII-th of rigid body barycenter position It sets, FIIndicate inertia space reference system, v0It indicates to be based on FIThe 0th rigid body systemic velocity, AIkIt indicates from FkTo inertial space Coordinate system FITransformation matrix of coordinates, FkIndicate the coordinate system of k-th of rigid body, lkIndicate that the origin of the coordinate system of k-th of rigid body refers to To the vector of the origin of the coordinate system of+1 rigid body of kth, ΩkIt indicates to be based on FkK-th of rigid body angular speed, AIiIt indicates from Fi To inertia space reference system FITransformation matrix of coordinates, aiIndicate origin i-th of rigid body of direction of the coordinate system of i-th of rigid body The vector of centroid position, IiIt indicates to be based on FiI-th of rigid body rotary inertia, ΩiIt indicates to be based on FiI-th of rigid body angle Speed, AkjIt indicates from FjTo FkTransformation matrix of coordinates, AijIt indicates from FjTo FiTransformation matrix of coordinates, FnIndicate n-th just The coordinate system of body, FjIndicate the coordinate system of j-th of rigid body, FiIndicate the coordinate system of i-th of rigid body.
3. method as claimed in claim 2, which is characterized in that each arm joint of mechanical arm forms multi-rigid body system with spacecraft System, and the kinematics model includes：
；
Wherein, n is rigid body quantity -1, A of multi-rigid-body systemInIt indicates from FnTo inertia space reference system FITransformation matrix of coordinates, InIt indicates to be based on FnN-th of rigid body rotary inertia, AnjIt indicates from FjTo FnTransformation matrix of coordinates, FnIndicate n-th of rigid body Coordinate system,It indicates to be based on FjAngular speed of j-th of rigid body relative to -1 rigid body of jth, miIndicate the matter of i-th of rigid body Amount, riIt indicates to be based on FII-th of rigid body centroid position, FIIndicate inertia space reference system, v0It indicates to be based on FIThe 0th just The systemic velocity of body, AIkIt indicates from FkTo inertia space reference system FITransformation matrix of coordinates, FkIndicate the coordinate of k-th of rigid body System, lkIndicate that the origin of the coordinate system of k-th of rigid body is directed toward the vector of the origin of the coordinate system of+1 rigid body of kth, AkjIndicate from FjTo FkTransformation matrix of coordinates, FjIndicate the coordinate system of j-th of rigid body, AIiIt indicates from FiTo inertia space reference system FISeat Mark transformation matrix, aiIndicate that the origin of the coordinate system of i-th of rigid body is directed toward the vector of the centroid position of i-th of rigid body, AijIt indicates From FjTo FiTransformation matrix of coordinates, IiIt indicates to be based on FiI-th of rigid body rotary inertia, FiIndicate the coordinate of i-th of rigid body System.
4. method as claimed in claim 2, which is characterized in that the quality and centroid position packet for generating target to be identified It includes：
In the quality and centroid position for generating target to be identified for the first time, quality and the barycenter position of target to be identified are randomly generated It sets；
In the non-quality and centroid position for generating target to be identified for the first time, according to the quality of the target to be identified generated before and It centroid position and correspondingly rotates inertia error and generates the quality and centroid position of target to be identified using intelligent optimization algorithm.
5. the method as described in any claim in claim 2 to 4, wherein the basis currently calculates the multiple of acquisition Rotary inertia assesses target current operation inertia error to be identified：
Target to be identified is assessed according to the sum of the variance of all isolated components in the current multiple rotary inertias for calculating and obtaining to work as Preceding rotary inertia error.
6. a kind of inertial parameter device for identifying of target to be identified by robot for space crawl, including：
Memory module, the solution target to be identified established suitable for storing the conservation of angular momentum principle based on multi-rigid-body system turn The kinematics model of dynamic inertia；
Measurement module measures mechanical arm respectively suitable for there is multiple moment of the mechanical arm rotation of target to be identified in driving crawl The angular momentum of each arm joint and be equipped with mechanical arm spacecraft angular momentum；
Wherein, the angular motion of spacecraft where the angular momentum and mechanical arm of each arm joint of corresponding mechanical arm of the multiple moment Amount is divided into multigroup angular momentum, and one group of angular momentum include the angular momentum of each arm joint of corresponding mechanical arm of multiple and different moment with And the angular momentum of spacecraft where mechanical arm；
Generation and computing module are suitable for generating the quality and centroid position of target to be identified, and utilize multigroup angular momentum, currently production The quality and centroid position of raw identification target are calculated separately using the kinematics model obtains the multiple of target to be identified Rotary inertia；
Judgment module, suitable for according to the current current operation inertia mistake for calculating the multiple rotary inertias obtained and assessing target to be identified Difference, when determining that the current operation inertia error does not meet predictive error requirement, triggering generates and computing module, makes generation simultaneously Computing module executes generation and calculating operation again；When determining that the current operation inertia error meets predictive error requirement, Triggering determines that inertial parameter module executes corresponding operation；
It determines inertial parameter module, is suitable for using the current rotary inertia obtained that calculates as the rotary inertia of target to be identified, and Using the quality of the target to be identified currently generated and centroid position as the quality of target to be identified and centroid position；
Wherein, the simultaneously computing module that generates is particularly adapted to：
For one group of angular momentum, using the angular momentum of different moments each arm joint of corresponding mechanical arm in this group of angular momentum with And the quality and centroid position calculation formula of the angular momentum of spacecraft where mechanical arm, the identification target currently generatedLeast square solutionThe least square solutionAs this is counted One rotary inertia of the target to be identified calculated：
Wherein,I11、I22、I33、I12、I13And I23Indicate that this calculated is waited for Six independent components in the rotary inertia of target are recognized,S(1)When to be based in one group of angular momentum first The S at quarter, S(t)For the S based on t-th of moment in one group of angular momentum,N is multi-rigid body system Rigid body quantity -1 of system,d(1)For d, d based on first moment in one group of angular momentum(t)To be based on one group of angular motion The d at t-th of moment in amount, d include d1、d2And d3Three components；
Wherein, AnjIt indicates from FjTo FnTransformation matrix of coordinates,It indicates to be based on FjJ-th of rigid body relative to -1 rigid body of jth Angular speed, A-1 InIndicate AInInverse, AInIt indicates from FnTo inertia space reference system FITransformation matrix of coordinates, InExpression is based on FnN-th of rigid body rotary inertia, miIndicate the quality of i-th of rigid body, riIt indicates to be based on FII-th of rigid body barycenter position It sets, FIIndicate inertia space reference system, v0It indicates to be based on FIThe 0th rigid body systemic velocity, AIkIt indicates from FkTo inertial space Coordinate system FITransformation matrix of coordinates, FkIndicate the coordinate system of k-th of rigid body, lkIndicate that the origin of the coordinate system of k-th of rigid body refers to To the vector of the origin of the coordinate system of+1 rigid body of kth, ΩkIt indicates to be based on FkK-th of rigid body angular speed, AIiIt indicates from Fi To inertia space reference system FITransformation matrix of coordinates, aiIndicate origin i-th of rigid body of direction of the coordinate system of i-th of rigid body The vector of centroid position, IiIt indicates to be based on FiI-th of rigid body rotary inertia, ΩiIt indicates to be based on FiI-th of rigid body angle Speed, AkjIt indicates from FjTo FkTransformation matrix of coordinates, AijIt indicates from FjTo FiTransformation matrix of coordinates, FiIndicate i-th just The coordinate system of body, FnIndicate the coordinate system of n-th of rigid body, FjIndicate the coordinate system of j-th of rigid body.
7. device as claimed in claim 6, wherein each arm joint of mechanical arm forms multi-rigid-body system, and institute with spacecraft Stating kinematics model includes：
；
Wherein, n is rigid body quantity -1, A of multi-rigid-body systemInIt indicates from FnTo inertia space reference system FITransformation matrix of coordinates, InIt indicates to be based on FnN-th of rigid body rotary inertia, AnjIt indicates from FjTo FnTransformation matrix of coordinates, FnIndicate n-th of rigid body Coordinate system,It indicates to be based on FjAngular speed of j-th of rigid body relative to -1 rigid body of jth, miIndicate the matter of i-th of rigid body Amount, riIt indicates to be based on FII-th of rigid body centroid position, v0It indicates to be based on FIThe 0th rigid body systemic velocity, AIkIt indicates From FkTo inertia space reference system FITransformation matrix of coordinates, FkIndicate the coordinate system of k-th of rigid body, lkIndicate k-th rigid body The origin of coordinate system is directed toward the vector of the origin of the coordinate system of+1 rigid body of kth, AkjIt indicates from FjTo FkTransformation matrix of coordinates, FjIndicate the coordinate system of j-th of rigid body, AIiIt indicates from FiTo inertia space reference system FITransformation matrix of coordinates, aiIt indicates i-th The origin of the coordinate system of rigid body is directed toward the vector of the centroid position of i-th of rigid body, AijIt indicates from FjTo FiTransformation matrix of coordinates, IiIt indicates to be based on FiI-th of rigid body rotary inertia, FiIndicate the coordinate system of i-th of rigid body.
8. the device as described in any claim in claim 6 to 7, wherein the judgment module is particularly adapted to：
Target to be identified is assessed according to the sum of the variance of all isolated components in the current multiple rotary inertias for calculating and obtaining to work as Preceding rotary inertia error.
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