Friction Identification of Heavy-Duty Manipulator CMOR Using Markov Chain Monte Carlo Method
文献类型：期刊论文
| 作者 | Wang, Qi1; Wu, Huapeng2; Song, Yuntao3; Cheng, Yong3 ; Qin, Guodong3; Yao, Zhixin3; Yang, Yang3
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| 刊名 | IEEE TRANSACTIONS ON PLASMA SCIENCE
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| 出版日期 | 2024-02-09 |
| 关键词 | Friction Torque Load modeling Mathematical models Arms Manipulator dynamics Maintenance engineering Markov chain Monte Carlo (MCMC) parameter estimation |
| ISSN号 | 0093-3813 |
| DOI | 10.1109/TPS.2024.3358304 |
| 通讯作者 | Wang, Qi(807073429@qq.com) |
| 英文摘要 | The CFETR Multipurpose Overload Robot (CMOR) is a heavy-duty manipulator that will be used for remote maintenance of China Fusion Engineering Test Reactor (CFETR). The transmission efficiency of the heavy-duty manipulator is generally low, which is mainly due to the large friction force of the heavy-duty manipulator compared to a light-duty manipulator. To improve the control performance, it is better to estimate friction in the transmission system. However, since the influence of the load, temperature, speed, and other factors on the friction force of the heavy-duty manipulator has not been studied separately yet, it is difficult to establish an accurate model of friction torque. This research aims to use the method known as Markov chain Monte Carlo (MCMC) to estimate the unknown parameters. The dynamic model has been built based on data on the output torque, current, motor center temperature, displacement, and speed of one joint of the heavy-duty manipulator. The results show that the MCMC method can greatly improve the efficiency of parameter identification and maintain a high level of accuracy. |
| WOS关键词 | PARAMETER-IDENTIFICATION ; DRY FRICTION ; ROBOT ; MODEL ; COMPENSATION ; LUGRE |
| 资助项目 | Comprehensive Research Facility for Fusion Technology Program of China[2018-000052-73-01-001228] |
| WOS研究方向 | Physics |
| 语种 | 英语 |
| WOS记录号 | WOS:001324960300001 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | Comprehensive Research Facility for Fusion Technology Program of China |
| 源URL | [http://ir.hfcas.ac.cn:8080/handle/334002/135682]  |
| 专题 | 中国科学院合肥物质科学研究院 |
| 通讯作者 | Wang, Qi |
| 作者单位 | 1.Jingdezhen Ceram Univ, Sch Mech & Elect Engn, Jingdezhen 333403, Peoples R China 2.Lappeenranta Univ Technol, Sch Energy Syst, Lappeenranta 53850, Finland 3.Chinese Acad Sci, Inst Plasma Phys, Hefei Inst Phys Sci, Hefei 230031, Peoples R China |
| 推荐引用方式 GB/T 7714 | Wang, Qi,Wu, Huapeng,Song, Yuntao,et al. Friction Identification of Heavy-Duty Manipulator CMOR Using Markov Chain Monte Carlo Method[J]. IEEE TRANSACTIONS ON PLASMA SCIENCE,2024. |
| APA | Wang, Qi.,Wu, Huapeng.,Song, Yuntao.,Cheng, Yong.,Qin, Guodong.,...&Yang, Yang.(2024).Friction Identification of Heavy-Duty Manipulator CMOR Using Markov Chain Monte Carlo Method.IEEE TRANSACTIONS ON PLASMA SCIENCE. |
| MLA | Wang, Qi,et al."Friction Identification of Heavy-Duty Manipulator CMOR Using Markov Chain Monte Carlo Method".IEEE TRANSACTIONS ON PLASMA SCIENCE (2024). |
入库方式： OAI收割
来源：合肥物质科学研究院
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