Dynamic Parameters Identification for Manipulators Considering Physical Feasibility and Nonlinear Friction

Hao Wen, Wen Fu, Yue Feng, Jiajie Chen, Wu Chen, Quanbin Lai, Binxuan Sun, Xingguang Duan*

*此作品的通讯作者

科研成果: 书/报告/会议事项章节会议稿件同行评审

2 引用 (Scopus)

摘要

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%.

源语言英语
主期刊名2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
出版商Institute of Electrical and Electronics Engineers Inc.
610-615
页数6
ISBN(电子版)9781665481090
DOI
出版状态已出版 - 2022
活动2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022 - Jinghong, 中国
期限: 5 12月 20229 12月 2022

出版系列

姓名2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

会议

会议2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
国家/地区中国
Jinghong
时期5/12/229/12/22

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