Identification methods for robot payload dynamical parameters

ZHANG Tie; QIN Bin-bin; ZOU Yan-biao

doi:10.13374/j.issn2095-9389.2017.12.018

Volume 39 Issue 12

Dec. 2017

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ZHANG Tie, QIN Bin-bin, ZOU Yan-biao. Identification methods for robot payload dynamical parameters[J]. Chinese Journal of Engineering, 2017, 39(12): 1907-1912. doi: 10.13374/j.issn2095-9389.2017.12.018

Citation:

ZHANG Tie, QIN Bin-bin, ZOU Yan-biao. Identification methods for robot payload dynamical parameters[J]. Chinese Journal of Engineering, 2017, 39(12): 1907-1912. doi: 10.13374/j.issn2095-9389.2017.12.018

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Identification methods for robot payload dynamical parameters

doi: 10.13374/j.issn2095-9389.2017.12.018

School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510641, China

Received Date: 2017-02-17

Abstract

Abstract

To solve the problem of low precision control in high speed motion robots due to a time-varying payload and to improve the identification accuracy of the payload, the dynamical parameter identification methods for robot end payload were studied. These methods included the parameter difference method, the moment method, and the global parameter identification method. The parameters were used to improve the dynamic precision in robot dynamic control. The dynamical parameters for different payloads can be identified with the Lagrange dynamic linear identification model, which acquires real-time data using the optimal incentive path and solves the equations by using the least square weight algorithm after the sample data was processed with a low-pass filter and central difference processes. The feasibility of the method was verified by experiments.
- robot payload,
- dynamic,
- linear model,
- incentive path,
- identification,
- payload p

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References(13)

References

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