High effective inverse dynamics modelling for dual-arm robot

Shen, Haoyu; Li, Yanli; Wu, Hongtao

doi:10.1063/1.5039135

Cited by 2 publications

(3 citation statements)

References 11 publications

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“…Based on the established dynamic model for 7-DOF modular robot, the conclusion of the mission planning is put in (20). The main parameters required for the dynamic model are shown in Table 3.…”

Section: Establish Dynamical Model and Simulationmentioning

confidence: 99%

“…The characteristic of the Kane method is that the sum of generalized force and generalized inertia force is zero. And The Kane method is to avoid the calculation of derivative, and it has high calculation efficiency and facilitates computer control [20][21][22]. At the same time, the Kane method is also applied to dynamics modeling and high precision control of parallel manipulator [23][24][25] and has achieved good results.…”

Section: Introductionmentioning

confidence: 99%

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Establishing an Improved Kane Dynamic Model for the 7-DOF Reconfigurable Modular Robot

Xiao

Liao

Song

2017

Mathematical Problems in Engineering

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We propose an improved Kane dynamic model theory for the 7-DOF modular robot in this paper, and the model precision is improved by the improved function T′it. We designed three types of progressive modular joints for reconfigurable modular robot that can be used in industrial robot, space robot, and special robot. The Kane dynamic model and the solid dynamic model are established, respectively, for the 7-DOF modular robot. After that, the experimental results are obtained from the simulation experiment of typical task in the established dynamic models. By the analysis model of error, the equation of the improved torque T′it is derived and proposed. And the improved Kane dynamic model is established for the modular robot that used T′it. Based on the experimental data, the undetermined coefficient matrix is five-order linear that was proved in 7-DOF modular robot. And the explicit formulation is solved of the Kane dynamic model and can be used in control system.

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Section: Establish Dynamical Model and Simulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Establishing an Improved Kane Dynamic Model for the 7-DOF Reconfigurable Modular Robot

Xiao

Liao

Song

2017

Mathematical Problems in Engineering

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“…It is also used in dynamic modeling and high-precision control of a parallel robot [29][30][31], which is convenient for computer control. It considers the sum of generalized dynamics and generalized inertial forces to be zero [27,32,33]. Zheng et al modeling analysis, reliability, and response of nonlinear dynamics in terms of multilink joints and friction [34][35][36][37] provided references for the modeling of this paper.…”

Section: Introductionmentioning

confidence: 99%

Establishing the Improved Dynamic Model for the Extracorporeal Ultrasonic Lithotripsy Medical Cooperative Robot

Xiao

Gong

et al. 2020

Mathematical Problems in Engineering

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The calculus is one of the common diseases with high incidence. The effective treatment method is extracorporeal ultrasonic lithotripsy. At present, it is low about the intelligent and automatic level of the lithotripter, and it has gradually failed to meet the treatment needs. The extracorporeal ultrasonic lithotripsy medical cooperative robot can solve such problems effectively, and it is equally critical for accurate modeling studies of dynamic models. Based on the previous research and experimental basis, this paper proposes a correction theory to improve the accuracy of the dynamic model for the model error in collaborative robot work. The study first establishes the dynamic model and the solid model of the collaborative robot and then subtracts the value of the dynamic model from the solid model to obtain the modified equation. Finally, the accuracy of the dynamic model is improved by modifying the equation. The experiments show that the kinetic model correction theory is effective and can improve the accuracy of the dynamic model modeling after the correction of the torque equation. The experiments show that the improved dynamic model theory is effective and can improve the modeling accuracy of the dynamic model after the correction of the torque equation. The modified equation has the best correction effect in the 5th degree polynomial and can be used for the extracorporeal ultrasonic lithotripsy medical cooperative robot control.

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High effective inverse dynamics modelling for dual-arm robot

Cited by 2 publications

References 11 publications

Establishing an Improved Kane Dynamic Model for the 7-DOF Reconfigurable Modular Robot

Establishing an Improved Kane Dynamic Model for the 7-DOF Reconfigurable Modular Robot

Establishing the Improved Dynamic Model for the Extracorporeal Ultrasonic Lithotripsy Medical Cooperative Robot

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