CN109483555B - Method for identifying parameters of statics model of serial rotary joint industrial robot - Google Patents
Method for identifying parameters of statics model of serial rotary joint industrial robot Download PDFInfo
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- CN109483555B CN109483555B CN201910062890.1A CN201910062890A CN109483555B CN 109483555 B CN109483555 B CN 109483555B CN 201910062890 A CN201910062890 A CN 201910062890A CN 109483555 B CN109483555 B CN 109483555B
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- 230000003068 static effect Effects 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 title claims abstract description 30
- 239000011159 matrix material Substances 0.000 claims description 38
- 239000013598 vector Substances 0.000 claims description 30
- 230000005484 gravity Effects 0.000 claims description 10
- 230000001133 acceleration Effects 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 2
- 238000001914 filtration Methods 0.000 claims description 2
- 230000010363 phase shift Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 235000010724 Wisteria floribunda Nutrition 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
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CN201810475176 | 2018-05-17 | ||
CN2018104751760 | 2018-05-17 |
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CN109483555A CN109483555A (en) | 2019-03-19 |
CN109483555B true CN109483555B (en) | 2022-01-04 |
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CN201910062890.1A Active CN109483555B (en) | 2018-05-17 | 2019-01-23 | Method for identifying parameters of statics model of serial rotary joint industrial robot |
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Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
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CN110065073B (en) * | 2019-05-28 | 2022-03-01 | 上海交通大学 | Robot dynamics model identification method |
CN110779554B (en) * | 2019-12-05 | 2024-06-04 | 上海钛米机器人科技有限公司 | Mechanical arm, initial pose calibration system and method based on IMU |
JP7473679B2 (en) | 2020-04-15 | 2024-04-23 | 上海非夕機器人科技有限公司 | Method for estimating gravity direction for a robot, robot system, and non-transitory computer-readable medium |
US11446825B2 (en) * | 2020-04-15 | 2022-09-20 | Shanghai Flexiv Robotics Technology Co., Ltd. | Method for estimating a direction of gravity with respect to a robot |
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Publication number | Priority date | Publication date | Assignee | Title |
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CN103170979B (en) * | 2013-02-06 | 2016-07-06 | 华南理工大学 | Online robot parameter identification method based on inertia measurement instrument |
CN105643620B (en) * | 2014-11-14 | 2019-01-22 | 中国科学院沈阳计算技术研究所有限公司 | A kind of industrial robot simple calibrating method based on cross rod piece |
CN106951658A (en) * | 2017-03-31 | 2017-07-14 | 华南理工大学 | A kind of serial manipulator inverse dynamics quick calculation method |
CN107199569B (en) * | 2017-06-22 | 2020-01-21 | 华中科技大学 | Joint robot trajectory planning method based on joint energy balanced distribution |
CN107671861B (en) * | 2017-11-13 | 2020-11-13 | 无锡信捷电气股份有限公司 | Improved SCARA robot dynamics parameter identification method |
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Address after: 200241 building 6, 646 Jianchuan Road, Songjiang District, Shanghai Applicant after: SHANGHAI JAKA ROBOTICS Ltd. Address before: 201315 floor 1, building 1, No. 251, Yaohua Road, China (Shanghai) pilot Free Trade Zone, Pudong New Area, Shanghai Applicant before: SHANGHAI JAKA ROBOTICS Ltd. |
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Address after: 200241 building 6, 646 Jianchuan Road, Minhang District, Shanghai Applicant after: SHANGHAI JAKA ROBOTICS Ltd. Address before: 200241 building 6, 646 Jianchuan Road, Songjiang District, Shanghai Applicant before: SHANGHAI JAKA ROBOTICS Ltd. |
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Address after: Building 6, 646 Jianchuan Road, Minhang District, Shanghai 201100 Patentee after: Jieka Robot Co.,Ltd. Address before: 200241 building 6, 646 Jianchuan Road, Minhang District, Shanghai Patentee before: SHANGHAI JAKA ROBOTICS Ltd. |