Zhang Shaolin; Wang Shuo; Jing Fengshui; Tan Min
Source Publicationsciencechinainformationscience
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.
Document Type期刊论文
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Zhang Shaolin,Wang Shuo,Jing Fengshui,et al. parameterestimationsurveyformultijointrobotdynamiccalibrationcasestudy[J]. sciencechinainformationscience,2019,62(10).
APA Zhang Shaolin,Wang Shuo,Jing Fengshui,&Tan Min.(2019).parameterestimationsurveyformultijointrobotdynamiccalibrationcasestudy.sciencechinainformationscience,62(10).
MLA Zhang Shaolin,et al."parameterestimationsurveyformultijointrobotdynamiccalibrationcasestudy".sciencechinainformationscience 62.10(2019).
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