An improved parameter identification method of redundant manipulator. (29th March 2021)

• Record Type: Journal Article
• Authors: Liu, Shi-Ping; Ma, Zi-Yan; Chen, Jin-Liang; Cao, Jun-Feng; Fu, Yan; Li, Shi-Qi
• Is Part Of: International journal of advanced robotic systems. Volume 18:Number 2(2021)
• Publication Date: 2021-03-29
• Subjects: Redundant manipulator -- dynamic parameter identification -- manipulator dynamic model -- manipulator control optimization -- nonlinear optimization; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/17298814211002118
• Languages: English
• ISSNs: 1729-8806

Abstract

To achieve more accurate simulation and control in the use of the manipulator, it is necessary to establish an accurate dynamic model of the redundant manipulator. The research of this article focuses on the dynamic parameter identification method of the redundant manipulator. In the study, the spinor theory is applied to the Newton–Euler dynamic equation, the Coulomb + viscous friction model is adopted, and the minimum parameter set is obtained by linearization derivation. The parameter identification of the manipulator is realized using the method of offline identification of the measured current, and the coefficient of the excitation trajectory is optimized using the nonlinear optimization function. Finally, the parameter set with high accuracy is obtained, and the motion trajectory of each joint can be obtained. The scheme has high accuracy and can meet the needs of practical application. To verify the accuracy and reliability of this method, we have carried out experiments on a service robot "Walker" and obtained the desired results.