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A multi-parameter overall identification method used for industrial robot force signal processing
Wu BL(吴炳龙); Qu DK(曲道奎); Xu F(徐方); Song JL(宋吉来); Hu, Jintao
作者部门其他
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
会议录名称Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
出版者IEEE
出版地Piscataway, NJ, USA
2014
页码2437-2441
收录类别EI ; CPCI(ISTP)
EI收录号20152600977436
WOS记录号WOS:000393066202078
产权排序1
ISBN号978-1-4799-5825-2
关键词Industrial Robot Force Control Force/torque Sensor Multi-parameter Overall Identification Gravity Compensation
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.
语种英语
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被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/16923
专题其他
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, University of Chinese Academy of Sciences, China
2.Shenyang SIASUN Robot and Automation Co., LTD., Liaoning Province, China
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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]. Piscataway, NJ, USA:IEEE,2014:2437-2441.
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