文章提出月球机器人机械臂的非常态旋转假设,以此涵盖机械臂可能存在的机械结构变化所导致的数学模型的改变.在此基础上改进了月球机器人操作动力学模型和机械臂连杆坐标系,并在新的连杆坐标系基础上确定了各非常态旋转假设角与D-H参数的关系.基于这两个改进模型,提出了利用机械臂工作时车体所产生的滑移进行参数辨识的方法,得到月球机器人的13组相关参数以及月面滑动摩擦系数,再由各非常态旋转假设角与D-H参数的关系,辨识出机械臂的运动学参数.仿真验证了改进的月球机器人操作动力学模型和改进的连杆坐标系模型的正确性,辨识得到的机械臂末端执行器速度可以较快跟上实际速度.%The introduction of the full paper reviews some papers in the open literature, including Refs. 5 and 6 written by the present authors, and then proposes the research mentioned in the title. Sections 1 and 2 explain our exploration. Section 1 assumes the abnormal rotation angles of the manipulator for lunar robot,which contain changes of mathematical models caused by probable mechanical transfiguration of manipulator. Subsection 1. 1 improves the modeling in two respects ( 1) manipulation dynamics for lunar robot; ( 2 ) the coordinates of links for manipulator founded on this assumption. Subsection 1. 2 proposes a new method that identifies the 13 parameters of lunar robot "and the coefficient of sliding by utilizing the slipping motion. Section 2, through the relationships existing among the abnormal circumrotation angles and D-H parameters, identifies the kinematic parameters. Simulation resultes, presented in Figs. 6 and 7 and Tables 2 and 3, and their analysis, verify prelimininarily that the improved modelings of manipulation dynamics for lunar robot and the coordinates of links for manipulator are correct and that the identified velocities of manipulator' s end - effector can follow up the real ones rapidly.
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