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Parameter estimation survey for multi-joint robot dynamic calibration case study
Zhang, Shaolin1,2; Wang, Shuo1,2,3; Jing, Fengshui1,2; Tan, Min1,2
Source PublicationSCIENCE CHINA-INFORMATION SCIENCES
ISSN1674-733X
2019-10-01
Volume62Issue:10Pages:15
Corresponding AuthorWang, Shuo(shuo.wang@ia.ac.cn)
AbstractAccurate 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
DOI10.1007/s11432-018-9726-3
WOS KeywordIDENTIFICATION ; FRICTION ; EXCITATION
Indexed BySCI
Language英语
Funding ProjectNational 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 OrganizationNational Natural Science Foundation of China ; Beijing Science and Technology Project ; Youth Innovation Promotion Association CAS
WOS Research AreaComputer Science ; Engineering
WOS SubjectComputer Science, Information Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000484467100001
PublisherSCIENCE PRESS
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
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, Shuo
Affiliation1.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 AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute 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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