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题名: A multi-parameter overall identification method used for industrial robot force signal processing
作者: 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: Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2014
页码: 2437-2441
收录类别: EI
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
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/16923
Appears in Collections:其他_会议论文

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