A PARAMETER IDENTIFICATION METHOD FOR THE JOINT CONTROL SYSTEM OF ROBOTS

›› 1993, Vol. 29 ›› Issue (1): 102-108.

• Article • Previous Articles

A PARAMETER IDENTIFICATION METHOD FOR THE JOINT CONTROL SYSTEM OF ROBOTS

Zhou Xuecai;Zhang Qixian;Yin Chaowan

Beijing University of Aeronautics & Astronautis Shenyang Institute of Automation, Chinese Academy of Sciences

Published:1993-01-01

Abstract

Abstract: To accurately calibrate and identify the parameters of robot joint control system is the key technique for carrying out the scheme of dynamic compensations and for improving the dynamic accuracy of robots. In this paper, the method of direct parameter calibration and identification for robot control systems is proposed and the correctness is perfectly demonstrated by a true example on a robot with two degrees of freedom.

Key words: Calibration, Compensation, Dynamics, Robot

Zhou Xuecai;Zhang Qixian;Yin Chaowan. A PARAMETER IDENTIFICATION METHOD FOR THE JOINT CONTROL SYSTEM OF ROBOTS[J]. , 1993, 29(1): 102-108.

[1]	CUI Xin, LI Changhe, ZHANG Yanbin, YANG Min, ZHOU Zongming, LIU Bo, WANG Chunjin. Force Model and Verification of Magnetic Traction Nanolubricant Grinding [J]. Journal of Mechanical Engineering, 2024, 60(9): 323-337.
[2]	QIN Guanglin, CUI Changcai, YIN Fangchen, HUANG Hui. Robotic Surface Scanning Viewpoint Planning for Complex 3D Stone Carving [J]. Journal of Mechanical Engineering, 2024, 60(8): 22-33.
[3]	GE Lei, NI Hao, HAO Yunxiao, ZHAO Bin, YUAN Yongliang, QUAN Long. Dead Zone Compensation Control of New Hydraulic Motor-mechanical Linear Actuator [J]. Journal of Mechanical Engineering, 2024, 60(8): 337-347.
[4]	ZHANG Hang, FU Kuan, CHEN Minghao, LI Rui, SHI Xinna. Dynamic Evolution and Vibration Reduction Analysis of Multi-section Serial In-pipe Inspection Robot When Crossing Obstacles [J]. Journal of Mechanical Engineering, 2024, 60(8): 348-359.
[5]	XU Fengyu, MA Kaiwei, SONG Julong, FAN Baojie, WU Xinjun. Vibration Reduction Mechanism and Control Method of Cable Climbing Robot Based on Spring-magnetorheological Damper [J]. Journal of Mechanical Engineering, 2024, 60(8): 384-395.
[6]	DENG Jianxin, YUAN Bangyi, HUANG Qiulin, DING Dukun, XIN Manyu, LIU Guangming. Review on the Key Technologies of Complex Surfaces Polishing Based on Robots [J]. Journal of Mechanical Engineering, 2024, 60(7): 1-21.
[7]	CHANG Boyan, HAN Fangxiao, ZHOU Yang, JIN Guoguang. Impact Dynamics of High-speed Metamorphic Mechanism for Comber [J]. Journal of Mechanical Engineering, 2024, 60(7): 54-65.
[8]	ZHANG Jun, WU Chengyang, FANG Hanliang, SUN Zaichao, WANG Kailong, TANG Tengfei. Investigation on Driving Characteristics of a Z4 Redundantly Actuated Parallel Manipulator [J]. Journal of Mechanical Engineering, 2024, 60(7): 66-78.
[9]	SHANG Deyong, HUANG Xinyi, HUANG Yunshan, ZHANG Tianyou. Research on Rigid-flexible Coupling Dynamics of Delta Parallel Robot Based on Kane Equation [J]. Journal of Mechanical Engineering, 2024, 60(7): 124-133.
[10]	YANG Weifeng, LIU Jianhua, Lü Naijing, MA Jiangtao. Method of Cable Dynamic Simulation Based on PBD [J]. Journal of Mechanical Engineering, 2024, 60(6): 21-31,57.
[11]	CHEN Qinghua, YANG Yunfan, GE Xin, LING Liang, WANG Kaiyun. Research on Anti-slip Control Strategy of Metro Train Based on the Electromagnetic Force [J]. Journal of Mechanical Engineering, 2024, 60(6): 334-341.
[12]	CAI Tengfei, PAN Yan, WANG Xiaolin, MA Fei, ZHU Qiheng, HAN Jian. Study on Erosion Pattern and Mechanism of Self-excited Cavitating Waterjet [J]. Journal of Mechanical Engineering, 2024, 60(6): 378-385.
[13]	ZHANG Fengli, ZHANG Rongrong, LUO Qiuli, ZHANG Yadong, LI Bing, GUO Hui. Research on the Aerodynamic Noise Mechanism and Noise Reduction of SUV Roof Hollow Spoiler [J]. Journal of Mechanical Engineering, 2024, 60(6): 398-408.
[14]	ZHANG Liyuan, YANG Jinbo, LI Ao, YANG Qingkai, XU Guangkui. Review on Configuration Design and Control of Tensegrity Spherical Robots [J]. Journal of Mechanical Engineering, 2024, 60(5): 1-18.
[15]	LIU Daxin, WANG Ke, LIU Zhenyu, XU Jiatong, TAN Jianrong. Research on Digital Twin Modeling Method for Robotic Assembly Cell Based on Data Fusion and Knowledge Reasoning [J]. Journal of Mechanical Engineering, 2024, 60(5): 36-50.

A PARAMETER IDENTIFICATION METHOD FOR THE JOINT CONTROL SYSTEM OF ROBOTS

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics

Comments