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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
Department其他
Conference Name11th World Congress on Intelligent Control and Automation (WCICA 2014)
Conference DateJune 29 - July 4, 2014
Conference PlaceShenyang, China
Source PublicationProceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2014
Pages2437-2441
Indexed ByEI ; CPCI(ISTP)
EI Accession number20152600977436
WOS IDWOS:000393066202078
Contribution Rank1
ISBN978-1-4799-5825-2
KeywordIndustrial Robot Force Control Force/torque Sensor Multi-parameter Overall Identification Gravity Compensation
AbstractFor 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.
Language英语
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/16923
Collection其他
Affiliation1.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
Recommended Citation
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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