An improved parameter identification method of redundant manipulator

Liu, Shiping; Ma, Ziyan; Chen, Jinliang; Cao, Junfeng; Fu, Yan; Li, Shiqi

doi:10.1177/17298814211002118

Cited by 11 publications

(3 citation statements)

References 22 publications

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“…The main purpose of the robotic arm is to complete the two actions of grasping and placing explosives to realize the demolition of explosives [11]. The explosive disposal robot designed in this paper carries an explosion-proof device that can resist 400 g TNT.…”

Section: Mechanism Designmentioning

confidence: 99%

Research on Kinematics Analysis and Trajectory Planning of Novel EOD Manipulator

Zhao

Han

et al. 2021

Applied Sciences

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To address the problems of mismatch, poor flexibility and low accuracy of ordinary manipulators in the complex special deflagration work process, this paper proposes a new five-degree-of-freedom (5-DOF) folding deflagration manipulator. Firstly, the overall structure of the explosion-expulsion manipulator is introduced. The redundant degrees of freedom are formed by the parallel joint axes of the shoulder joint, elbow joint and wrist pitching joint, which increase the flexibility of the mechanism. Aiming at a complex system with multiple degrees of freedom and strong coupling of the manipulator, the virtual joint is introduced, the corresponding forward kinematics model is established by D–H method, and the inverse kinematics solution of the manipulator is derived by analytical method. In the MATLAB platform, the workspace of the manipulator is analyzed by Monte Carlo pseudo-random number method. The quintic polynomial interpolation method is used to simulate the deflagration task in joint space. Finally, the actual prototype experiment is carried out using the data obtained by simulation. The trajectory planning using the quintic polynomial interpolation method can ensure the smooth movement of the manipulator and high accuracy of operation. Furthermore, the trajectory is basically consistent with the simulation trajectory, which can realize the work requirements of putting the object into the explosion-proof tank. The new 5-DOF folding deflagration manipulator designed in this paper has stable motion and strong robustness, which can be used for deflagration during the COVID-19 epidemic.

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Section: Mechanism Designmentioning

confidence: 99%

Research on Kinematics Analysis and Trajectory Planning of Novel EOD Manipulator

Zhao

Han

et al. 2021

Applied Sciences

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“…In their study, an appropriate answer to this problem was given that the new adaptive sliding mode controller (ASMC) method does not need to anticipate the system uncertainty interval. In their research, Liu et al 14 have focused on an identification method to identify the dynamic parameters of the redundant manipulator. In this study, the spinor theory is applied to the Newton-Euler equations, and the viscous-Coulomb friction model is used.…”

Section: Introductionmentioning

confidence: 99%

Extended nonlinear time-varying lugre-based friction model identification of robot manipulator with sliding mode control compensation approach

Moradi

Korayem

Lademakhi

2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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In this article, the values of torque loss due to the friction phenomenon in the robot joints are initially identified; then, by considering the lugre friction model and applying the nonlinear least-squares error-estimation method, a model for this phenomenon is presented. To make the studies more efficient, the general lugre friction model has been used in three forms for modeling the system’s friction that the first model was the general lugre model, and in the other two Extended models, the parameters are considered as time variables that are estimated online. It should be noted that the third model includes the nonlinear viscous term too. Then, by using the nonlinear sliding mode controller, which is a robust control against possible uncertainties in the system, the performance of the designed algorithms is examined. The results show the superiority of the identified models with time-varying parameters over the model with constant parameters. Finally, by the use of represented friction models, a more accurate model for this system has been introduced. Eventually, the results of the simulations have been tested on a 6R laboratory robot to prove the validation of the results with the proposed algorithm, and as it showed, the final friction model has performed better.

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“…Various methodologies have been developed to solve the parameter estimation problem for manipulator systems [13][14][15][16][17][18][19]. One commonly adopted method for identifying the unknown manipulator parameters is the recursive least square method (RLS) [20,21].…”

Section: Introductionmentioning

confidence: 99%

Parameter Estimation for Robotic Manipulator Systems

et al. 2022

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In this paper, a novel methodology for estimating the parameters of robotic manipulator systems is proposed. It can be seen that, for the purpose of parameter estimation, the input torque to each joint motor is designed as a linear combination of sinusoids. After the transient responses of joint angles exponentially converge to zero, the steady states of joint angle outputs can be extracted. Since the steady states of joint angles are the equivalent finite Fourier series, the coefficients of the steady state components of joint angles can be further extracted in a fundamental period. With the amazing finding that the steady states contain all dynamic information of manipulator systems, all unknown parameters of the system model can be accurately estimated with the extracted coefficients in finite frequency bands. The simulation results for a two-link manipulator are carried out to illustrate the effectiveness and robustness against measurement noise of the proposed method.

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An improved parameter identification method of redundant manipulator

Cited by 11 publications

References 22 publications

Research on Kinematics Analysis and Trajectory Planning of Novel EOD Manipulator

Research on Kinematics Analysis and Trajectory Planning of Novel EOD Manipulator

Extended nonlinear time-varying lugre-based friction model identification of robot manipulator with sliding mode control compensation approach

Parameter Estimation for Robotic Manipulator Systems

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