CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Parameter Estimation Survey for Multi-joint Robot Dynamic Calibration Case Study
Zhang SL(张少林)1,2; Wang S(王硕)1,2,3; Jing FS(景奉水)1,2; Tan M(谭民)1,2
Source PublicationSCIENCE CHINA Information Sciences
2019
Issue1Pages:1
Abstract

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.

KeywordDynamic Parameter Calibration Friction Calibration Robot Dynamics Industrial Manipulator Dynamic Models
Indexed BySCI
Language英语
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/23680
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorWang S(王硕)
Affiliation1.中国科学院自动化研究所
2.中国科学院大学
3.中国科学院脑科学与智能技术卓越创新中心
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Zhang SL,Wang S,Jing FS,et al. Parameter Estimation Survey for Multi-joint Robot Dynamic Calibration Case Study[J]. SCIENCE CHINA Information Sciences,2019(1):1.
APA Zhang SL,Wang S,Jing FS,&Tan M.(2019).Parameter Estimation Survey for Multi-joint Robot Dynamic Calibration Case Study.SCIENCE CHINA Information Sciences(1),1.
MLA Zhang SL,et al."Parameter Estimation Survey for Multi-joint Robot Dynamic Calibration Case Study".SCIENCE CHINA Information Sciences .1(2019):1.
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