A multi-parameter overall identification method used for industrial robot force signal processing
文献类型：会议论文
| 作者 | Wu BL(吴炳龙); Qu DK(曲道奎); Xu F(徐方); Song JL(宋吉来); Hu, Jintao |
| 出版日期 | 2014 |
| 会议名称 | 11th World Congress on Intelligent Control and Automation (WCICA 2014) |
| 会议日期 | June 29 - July 4, 2014 |
| 会议地点 | Shenyang, China |
| 关键词 | Industrial robot Force control Force/torque sensor Multi-parameter overall identification Gravity compensation |
| 页码 | 2437-2441 |
| 中文摘要 | For industrial robot force signal measurement, we proposed a multi-parameter overall identification method, the results of identification used to compensate six-axis force/torque sensor sampling data, can greatly improve the measurement accuracy of contact force between robot end-effector and the environment. The parameters need to be identified comprise a deflection angle between the sensor coordinate system and the robot sixth axis coordinate system, the gravity of end-effector, the center of gravity of robot end-effector, the zero drift of sensor, a total of 11 parameters. The core idea of the parameters identification is that, firstly, building a parameter identification model about the parameters need to be identified, the robot posture, and the force measured by the sensor; Then, restructuring the parameters as unknown vector; Finally, using the least squares method to calculate the unknown vector which is the result of parameters. This method has two advantages: first, it overall consider a variety of factors, improve the measurement accuracy of the contact force; Second, it can overall identify all parameters, improve the identification efficiency. The theoretical analysis and experimental verification proved the correctness and validity of the method. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议录 | Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4799-5825-2 |
| 源URL | [http://ir.sia.cn/handle/173321/16923]  |
| 专题 | 沈阳自动化研究所_其他 |
| 推荐引用方式 GB/T 7714 | Wu BL,Qu DK,Xu F,et al. A multi-parameter overall identification method used for industrial robot force signal processing[C]. 见:11th World Congress on Intelligent Control and Automation (WCICA 2014). Shenyang, China. June 29 - July 4, 2014. |
入库方式： OAI收割
来源：沈阳自动化研究所
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