Parameter estimation survey for multi-joint robot dynamic calibration case study
文献类型：期刊论文
| 作者 | Zhang, Shaolin1,2 ; Wang, Shuo1,2,3; Jing, Fengshui1,2; Tan, Min1,2
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| 刊名 | SCIENCE CHINA-INFORMATION SCIENCES
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| 出版日期 | 2019-10-01 |
| 卷号 | 62期号:10页码:15 |
| 关键词 | dynamic parameter calibration friction calibration robot dynamics industrial manipulator dynamic models |
| ISSN号 | 1674-733X |
| DOI | 10.1007/s11432-018-9726-3 |
| 通讯作者 | Wang, Shuo(shuo.wang@ia.ac.cn) |
| 英文摘要 | 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. |
| WOS关键词 | IDENTIFICATION ; FRICTION ; EXCITATION |
| 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 |
| WOS研究方向 | Computer Science ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000484467100001 |
| 出版者 | SCIENCE PRESS |
| 资助机构 | National Natural Science Foundation of China ; Beijing Science and Technology Project ; Youth Innovation Promotion Association CAS |
| 源URL | [http://ir.ia.ac.cn/handle/173211/23680]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 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 |
| 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. |
入库方式： OAI收割
来源：自动化研究所
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