| Parameter estimation survey for multi-joint robot dynamic calibration case study | |
Zhang, Shaolin1,2 ; Wang, Shuo1,2,3; Jing, Fengshui1,2; Tan, Min1,2
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| Source Publication | SCIENCE CHINA-INFORMATION SCIENCES
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| ISSN | 1674-733X |
| 2019-10-01 | |
| Volume | 62Issue:10Pages:15 |
| Corresponding Author | Wang, Shuo(shuo.wang@ia.ac.cn) |
| 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. |
| Keyword | dynamic parameter calibration friction calibration robot dynamics industrial manipulator dynamic models |
| DOI | 10.1007/s11432-018-9726-3 |
| WOS Keyword | IDENTIFICATION ; FRICTION ; EXCITATION |
| Indexed By | SCI |
| Language | 英语 |
| Funding Project | 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 |
| Funding Organization | National Natural Science Foundation of China ; Beijing Science and Technology Project ; Youth Innovation Promotion Association CAS |
| WOS Research Area | Computer Science ; Engineering |
| WOS Subject | Computer Science, Information Systems ; Engineering, Electrical & Electronic |
| WOS ID | WOS:000484467100001 |
| Publisher | SCIENCE PRESS |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://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 Author | Wang, Shuo |
| Affiliation | 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 |
| First Author Affilication | Institute of Automation, Chinese Academy of Sciences |
| Corresponding Author Affilication | Institute of Automation, Chinese Academy of Sciences |
| Recommended Citation 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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| Parameter estimation（777KB） | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | View Download | |
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