To achieve more accurate simulation and control in the use of the manipulator, it is necessary to establish an accurate dynamic model of the redundant manipulator. The research of this article focuses on the dynamic parameter identification method of the redundant manipulator. In the study, the spinor theory is applied to the Newton–Euler dynamic equation, the Coulomb + viscous friction model is adopted, and the minimum parameter set is obtained by linearization derivation. The parameter identification of the manipulator is realized using the method of offline identification of the measured current, and the coefficient of the excitation trajectory is optimized using the nonlinear optimization function. Finally, the parameter set with high accuracy is obtained, and the motion trajectory of each joint can be obtained. The scheme has high accuracy and can meet the needs of practical application. To verify the accuracy and reliability of this method, we have carried out experiments on a service robot “Walker” and obtained the desired results.

为了在机械手的使用中实现更精确的仿真和控制，有必要建立冗余机械手的精确动态模型。本文的研究集中在冗余机械手的动态参数辨识方法上。在研究中，将自旋理论应用于牛顿-欧拉动力学方程，采用库仑+粘滞摩擦模型，并通过线性化推导获得最小参数集。机械手的参数辨识是通过离线识别被测电流的方法来实现的，励磁轨迹的系数是通过非线性优化函数进行优化的。最终，获得了高精度的参数集，并且可以获得每个关节的运动轨迹。该方案精度高，可以满足实际应用的需求。为了验证该方法的准确性和可靠性，我们在服务机器人“行者”上进行了实验，并获得了预期的结果。