Parameter estimation survey for multi-joint robot dynamic calibration case study

doi:10.1007/s11432-018-9726-3

	Parameter estimation survey for multi-joint robot dynamic calibration case study
	Zhang, Shaolin1,2 ; Wang, Shuo1,2,3 ; Jing, Fengshui1,2 ; Tan, Min1,2
发表期刊	SCIENCE CHINA-INFORMATION SCIENCES
ISSN	1674-733X
	2019-10-01
卷号	62 期号:10 页码:15
通讯作者	Wang, Shuo(shuo.wang@ia.ac.cn)
摘要	Accurate model parameters are the basis of robot dynamics. Many linear and nonlinear models have been proposed to calibrate the inertial parameters and friction parameters of multi-joint robots. However, methods of choosing a model and calculating its parameters still have few summaries. This paper reviews typical linear/nonlinear models and different calculation methods for robot dynamic calibration. Through simulations, the features of different methods are analyzed, including torque error, parameter error, model adaptability, solution time, and anti-interference ability of the calibration results. Finally, an experiment performed on a six-degree-of-freedom industrial manipulator is used as an example to illustrate how to select the model for a specified robot. These comparisons and experiments provide references for the parameter calibration of multi-joint robots.
关键词	dynamic parameter calibration friction calibration robot dynamics industrial manipulator dynamic models
DOI	10.1007/s11432-018-9726-3
关键词[WOS]	IDENTIFICATION ; FRICTION ; EXCITATION
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[U1713222] ; National Natural Science Foundation of China[61773378] ; National Natural Science Foundation of China[61421004] ; National Natural Science Foundation of China[U1806204] ; Beijing Science and Technology Project[Z181100003118006] ; Youth Innovation Promotion Association CAS ; National Natural Science Foundation of China[U1713222] ; National Natural Science Foundation of China[61773378] ; National Natural Science Foundation of China[61421004] ; National Natural Science Foundation of China[U1806204] ; Beijing Science and Technology Project[Z181100003118006] ; Youth Innovation Promotion Association CAS ; National Natural Science Foundation of China[U1713222] ; National Natural Science Foundation of China[61773378] ; National Natural Science Foundation of China[61421004] ; National Natural Science Foundation of China[U1806204] ; Beijing Science and Technology Project[Z181100003118006] ; Youth Innovation Promotion Association CAS
项目资助者	National Natural Science Foundation of China ; Beijing Science and Technology Project ; Youth Innovation Promotion Association CAS
WOS研究方向	Computer Science ; Engineering
WOS类目	Computer Science, Information Systems ; Engineering, Electrical & Electronic
WOS记录号	WOS:000484467100001
出版者	SCIENCE PRESS
七大方向——子方向分类	智能机器人
引用统计	被引频次：10[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/23680
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Wang, Shuo
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China 3.CAS Ctr Excellence Brain Sci & Intelligence Techn, Shanghai 200031, Peoples R China
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Zhang, Shaolin,Wang, Shuo,Jing, Fengshui,et al. Parameter estimation survey for multi-joint robot dynamic calibration case study[J]. SCIENCE CHINA-INFORMATION SCIENCES,2019,62(10):15.
APA	Zhang, Shaolin,Wang, Shuo,Jing, Fengshui,&Tan, Min.(2019).Parameter estimation survey for multi-joint robot dynamic calibration case study.SCIENCE CHINA-INFORMATION SCIENCES,62(10),15.
MLA	Zhang, Shaolin,et al."Parameter estimation survey for multi-joint robot dynamic calibration case study".SCIENCE CHINA-INFORMATION SCIENCES 62.10(2019):15.

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