An improved parameter identification method of redundant manipulator
To achieve more accurate simulation and control in the use of the manipulator, it is necessary to establish an accurate dynamic model of the redundant manipulator. The research of this article focuses on the dynamic parameter identification method of the redundant manipulator. In the study, the spin...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2021-03-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/17298814211002118 |
| _version_ | 1818933794775760896 |
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| author | Shi-Ping Liu Zi-Yan Ma Jin-Liang Chen Jun-Feng Cao Yan Fu Shi-Qi Li |
| author_facet | Shi-Ping Liu Zi-Yan Ma Jin-Liang Chen Jun-Feng Cao Yan Fu Shi-Qi Li |
| author_sort | Shi-Ping Liu |
| collection | DOAJ |
| description | To achieve more accurate simulation and control in the use of the manipulator, it is necessary to establish an accurate dynamic model of the redundant manipulator. The research of this article focuses on the dynamic parameter identification method of the redundant manipulator. In the study, the spinor theory is applied to the Newton–Euler dynamic equation, the Coulomb + viscous friction model is adopted, and the minimum parameter set is obtained by linearization derivation. The parameter identification of the manipulator is realized using the method of offline identification of the measured current, and the coefficient of the excitation trajectory is optimized using the nonlinear optimization function. Finally, the parameter set with high accuracy is obtained, and the motion trajectory of each joint can be obtained. The scheme has high accuracy and can meet the needs of practical application. To verify the accuracy and reliability of this method, we have carried out experiments on a service robot “Walker” and obtained the desired results. |
| first_indexed | 2024-12-20T04:54:03Z |
| format | Article |
| id | doaj.art-3f908c6fc74d44b3bd5bb692434f0f39 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-20T04:54:03Z |
| publishDate | 2021-03-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-3f908c6fc74d44b3bd5bb692434f0f392022-12-21T19:52:47ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142021-03-011810.1177/17298814211002118An improved parameter identification method of redundant manipulatorShi-Ping LiuZi-Yan MaJin-Liang ChenJun-Feng CaoYan FuShi-Qi LiTo achieve more accurate simulation and control in the use of the manipulator, it is necessary to establish an accurate dynamic model of the redundant manipulator. The research of this article focuses on the dynamic parameter identification method of the redundant manipulator. In the study, the spinor theory is applied to the Newton–Euler dynamic equation, the Coulomb + viscous friction model is adopted, and the minimum parameter set is obtained by linearization derivation. The parameter identification of the manipulator is realized using the method of offline identification of the measured current, and the coefficient of the excitation trajectory is optimized using the nonlinear optimization function. Finally, the parameter set with high accuracy is obtained, and the motion trajectory of each joint can be obtained. The scheme has high accuracy and can meet the needs of practical application. To verify the accuracy and reliability of this method, we have carried out experiments on a service robot “Walker” and obtained the desired results.https://doi.org/10.1177/17298814211002118 |
| spellingShingle | Shi-Ping Liu Zi-Yan Ma Jin-Liang Chen Jun-Feng Cao Yan Fu Shi-Qi Li An improved parameter identification method of redundant manipulator International Journal of Advanced Robotic Systems |
| title | An improved parameter identification method of redundant manipulator |
| title_full | An improved parameter identification method of redundant manipulator |
| title_fullStr | An improved parameter identification method of redundant manipulator |
| title_full_unstemmed | An improved parameter identification method of redundant manipulator |
| title_short | An improved parameter identification method of redundant manipulator |
| title_sort | improved parameter identification method of redundant manipulator |
| url | https://doi.org/10.1177/17298814211002118 |
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