@inproceedings{52fbe2eee1094eddaeb5e3e5717f9417,
title = "Dynamic Parameters Identification for Manipulators Considering Physical Feasibility and Nonlinear Friction",
abstract = "The dynamic modeling and parameters identifying of a manipulator is extremely important for its control performance and interaction capability. The nonlinear viscous friction is always neglected in parameters identification which usually uses a linear model, particularly, it is easy to cause that the parameters lose physical feasibility. A dynamic parameters identification method considering nonlinear viscous friction is proposed which can ensure the physical feasibility at the same time. Then an identification framework and an experiment platform are built to validate this new method. The results of verification tests show the method proposed has better results in verification trajectories whose relative error is 7.266% which is lower than classic method with 10.217%.",
author = "Hao Wen and Wen Fu and Yue Feng and Jiajie Chen and Wu Chen and Quanbin Lai and Binxuan Sun and Xingguang Duan",
note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022 ; Conference date: 05-12-2022 Through 09-12-2022",
year = "2022",
doi = "10.1109/ROBIO55434.2022.10011920",
language = "English",
series = "2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "610--615",
booktitle = "2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022",
address = "United States",
}