Identification of Articulated Robots' Dynamics Parameters Based on Linkage-assemblies Method
Geng Lingbo;Chen Bai;Wu Hongtao
Nanjing University of Aeronautics and Astronautics,Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology,Nanjing,210016
Online:2014-03-10
Published:2014-03-21
Supported by:
National Natural Science Foundation of China(No. 51075209);National High-tech R&D Program of China (863 Program) (No. 2013AA041004);Jiangsu Provincial Natural Science Foundation of China(No. BK2012798)
[1]Max Meng Q H. Comparison Study of Model-based and Non-model-based Robot Controllers[C]//IEEE,Intelligent Systems for the 21st Cebtury. Vancouver, BC, 1995:61-66.
[2]Gautier M,Khalil W. Direct Calculation of Minimum Set of Inertial Parameters of Serial Robots[J]. IEEE,Transations on Robotics and Automation,1990,6(3):369-373.
[3]霍伟.机器人动力学与控制[M].北京:高等教育出版社,2005.
[4]Qin Zhongkai, Baron L, Birglen L. A New Approach to the Dynamic Parameter Identification of Robotic Manipulators[J]. Robotica, 2010, 28: 539-547.
[5]Gu Yunjin, Wang Hyuk, Jang Ho Cho. Identification of Dynamic Parameters of an Industrial Robot Automation and Systems. Gyeonggi-do, 2010:1450-1455.
[6]Gautier M,Poignet P.Extened Kalman Filtering and Weighted Least Square Dynamics Identification of Robot[J]. Control Engineering Practice,2001,9(12):1361-1372.
[7]Kinsheel A, Taha Z. Robust Least Square Estimation of the CRS A465 Robot Arm’s Dynamic Model Parameters[J]. Journal of Mechanical Engineering Research,2012,4(3):89-99.
[8]陈恩伟.机器人动态特性及动力学参数辨识研究[D].合肥:合肥工业大学,2006.
[9]陈恩伟,刘正士,干方建.机器人末端臂惯性参数辨识的人工神经网络方法[J].中国机械工程,2006,17(3): 268-271.
Chen Enwei,Liu Zhengshi, Gan Fangjian. Application of ANN Method in Inertial Parameter Identification of the End Effector of Robot[J].China Mechanical Engineering,2006,17(3): 268-271.
[10]Wu Jun, Wang Jinsong,Zheng You.An Qverview of Dynamic Parameter Identification of Robots[J].Robotics and Coputater-intergrated Manufacturing,2010,26:414-419.
[11]Swevers J,Verdonck W,de Schutter J. Dynamic Model Identification for Industrial Robot[J].IEEE Control Systems Magazine,2007,27(5):58-71.
[12]Park K J. Fourier-based Optimal Excitation Trajectories for the Dynamic Identification of Robots[J].Robotica,2006,24:625-633.
[13]Swevers J, Verdonck W, Naumer B, et al. An Experomental Robot Load Identification Method for Industrial Application[J]. The International Journal of Robotics Research,2002,8(21):701-712.