Abstract
In order to establish an accurate dynamic model for a serial system consisting of driving revolute joints, a novel dynamic parameter identification method is proposed in this paper. After revealing the characteristics that a periodic input results in the periodic variations but different phases of the inertia and gravity term and friction force, an integral-elimination based inertial and friction parameters identification method is proposed. The parameter identification method allows the inertial parameter and the friction parameter identified separately by selecting reasonable integral time intervals, which effectively improves the identification efficiency and accuracy of dynamic parameters. Experimental results on the C wrist installed on a 5-DOF hybrid robot show that the driving torque predicted by the identified dynamic model is consistent with the measured torque and the validity of the proposed dynamic parameter identification method is verified.
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Acknowledgement
This research is supported by National Key R&D program of China (2022YFB4700301 and 2019YFA0709004) and National Natural Science Foundation of China (91948301 and 51721003).
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Liu, H. et al. (2023). An Integral-Elimination Based Inertial and Friction Parameters Identification Method. In: Okada, M. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2023. Mechanisms and Machine Science, vol 148. Springer, Cham. https://doi.org/10.1007/978-3-031-45770-8_37
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DOI: https://doi.org/10.1007/978-3-031-45770-8_37
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