Closed-Loop Dynamic Parameter Identification of Robot Manipulators Using Modified Fourier Series

Wu, Wenxiang; Zhu, Shiqiang; Wang, Xuanyin; Liu, Huashan

doi:10.5772/45818

Cited by 59 publications

(33 citation statements)

References 18 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…(12). In other words, the phase shift due to viscous friction that leads to an inaccurate identification result mainly attributed to Eq.…”

Section: New Identification Principlementioning

confidence: 99%

“…11 Sometimes, to overcome the sensitivity to measurement noise, the maximum-likelihood estimator is used to incorporate the measured noise with its statistical characteristics of random measurement error. 12,13 However, when using a linear estimator, friction is modeled with a simple linear model that ignores the dry friction term. To identify the accurate dynamic and friction parameters of a parallel manipulator with actuation redundancy, a nonlinear friction model is constructed for the joints to obtain an adequate dynamic model, and the weighted-least-squares estimator was applied in Ref.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

An inertial parameter identification method of eliminating system damping effect for a six-degree-of-freedom parallel manipulator

Tang

Jiang

Tong

et al. 2015

Chinese Journal of Aeronautics

View full text Add to dashboard Cite

A new simple and effective inertial parameter identification method based on sinusoidal vibrations of a six-degree-of-freedom parallel manipulator is proposed. Compared with previously known identification algorithms, the advantages of the new approach are there is no need to design the excitation trajectory to consider the condition number of the observation matrix and the inertial matrix can be accurately defined regardless of the effect of viscous friction. In addition, the use of a sinusoidal exciting trajectory allows calculation of the velocities and accelerations from the measured position response. Simulations show that the new approach has acceptable tolerance of dry friction when using a simple coupling parameter modified formula. The experimental application to the hydraulically driven Stewart platform demonstrates the capability and efficiency of the proposed identification method.

show abstract

“…(12). In other words, the phase shift due to viscous friction that leads to an inaccurate identification result mainly attributed to Eq.…”

Section: New Identification Principlementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

An inertial parameter identification method of eliminating system damping effect for a six-degree-of-freedom parallel manipulator

Tang

Jiang

Tong

et al. 2015

Chinese Journal of Aeronautics

View full text Add to dashboard Cite

show abstract

“…The condition number of the observation matrix represents the upper bound for input/output error. It directly affects the convergence rate and noise immunity of the identification experiment [32]. This optimization problem can be solved using genetic algorithm (GA).…”

Section: Hybrid-activated Torquementioning

confidence: 99%

The FES-assisted control for a lower limb rehabilitation robot: simulation and experiment

Chen¹,

Jin²,

Peng³

et al. 2014

Robot. Biomim.

View full text Add to dashboard Cite

To design a control strategy for iLeg, an exoskeleton robot developed for lower limb rehabilitation aiming at investigating the feasibility of integrating functional electrical stimulation (FES) with robot-based rehabilitation training, an FES-assisted training strategy combined with impedance control, has been proposed in this paper. Through impedance control, an active compliance of the robot is established, and the patient's voluntary effort to accomplish the training task is inspired. During the training process, the patient's related muscles are applied with FES which provides an extra assistance to the patient. The intensity of the FES is properly chosen in order to induce a desired active torque which is proportional to the voluntary effort extracted from the electromyography signals of the related muscles using back propagation neural networks. This kind of enhancement serves as a positive feedback which reminds the patient of the correct attempt to fulfill the desired motion. FES control is conducted by a combination of neural network-based feedforward controller and a PD feedback controller. Simulation conducted using Matlab and the experiment with a spinal cord injury subject and a healthy subject have shown satisfactory results which verify the feasibility of this control strategy.

show abstract

“…Define the positive function V = 1/2 s 2 , and according to (17) and (18), the derivative of V can be obtained as…”

Section: Fuzzy Adaptive Control Designmentioning

confidence: 99%

“…In [15], a novel teleoperation control combining with NNs and wave variable is proposed to guarantee the stability of the closed-loop systems. For the unknown parameters of robotic systems, adaptive estimation design methods are developed in [16,17]. For uncertain multiagent systems, adaptive NN synchronization controls by using the information of the neighboring agents are established in [18].…”

Section: Introductionmentioning

confidence: 99%

Fuzzy Adaptive Switching Control for an Uncertain Robot Manipulators with Time‐Varying Output Constraint

et al. 2018

View full text Add to dashboard Cite

An adaptive control strategy based on a fuzzy logic system by introducing a nonzero time-varying parameter is studied for an n-link manipulator system with the condition of a complex environment. At the beginning, a universal approximator with a one timevarying parameter is proposed based on the analysis of the fuzzy logic system, which is utilized to equalize uncertainties in robot manipulators with time-varying output constraints. The novel design method is used to reduce greatly the online learning computation burden compared with traditional fuzzy adaptive control. The output and the position of robotic manipulators are constrained with time-varying, a good tracking performance can be guaranteed with the condition of unknown dynamics of robot manipulators, and the violation of constraints can be conquered by the analysis based on the barrier Lyapunov function. A switching adaptive control is proposed to extend the semiglobal stability to global stability. Effectiveness of the approach is demonstrated by simulation results.

show abstract

Closed-Loop Dynamic Parameter Identification of Robot Manipulators Using Modified Fourier Series

Cited by 59 publications

References 18 publications

An inertial parameter identification method of eliminating system damping effect for a six-degree-of-freedom parallel manipulator

An inertial parameter identification method of eliminating system damping effect for a six-degree-of-freedom parallel manipulator

The FES-assisted control for a lower limb rehabilitation robot: simulation and experiment

Fuzzy Adaptive Switching Control for an Uncertain Robot Manipulators with Time‐Varying Output Constraint

Contact Info

Product

Resources

About