Parameter estimation survey for multi-joint robot dynamic calibration case study

• 来源期刊: 中国科学:化学（英文版）
• 年，卷（期）: 2019,（10）
• 页码范围: 98-112
• 页数: 15页
• 语种: 英文

摘要

Accurate model parameters are the basis of robot dynamics.Many linear and nonlinear models have been proposed to calibrate the inertial parameters and friction parameters of multi-joint robots.However,methods of choosing a model and calculating its parameters still have few summaries.This paper reviews typical linear/nonlinear models and different calculation methods for robot dynamic calibration.Through simulations,the features of different methods are analyzed,including torque error,parameter error,model adaptability,solution time,and anti-interference ability of the calibration results.Finally,an experiment performed on a six-degree-of-freedom industrial manipulator is used as an example to illustrate how to select the model for a specified robot.These comparisons and experiments provide references for the parameter calibration of multi-joint robots.