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An online payload identification method based on parameter difference for industrial robots

Published online by Cambridge University Press:  13 September 2024

Tian Xu Open the ORCID record for Tian Xu [Opens in a new window] ,
Hua Tuo ,
Qianqian Fang Open the ORCID record for Qianqian Fang [Opens in a new window] ,
Jie Chen ,
Jizhuang Fan ,
Debin Shan  and
Jie Zhao
Tian Xu
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China School of Materials Science and Engineering, Harbin Institute of Technology, Harbin, China
Hua Tuo
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
Qianqian Fang
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
Jie Chen*
Affiliation:
School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China
Jizhuang Fan*
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
Debin Shan
Affiliation:
School of Materials Science and Engineering, Harbin Institute of Technology, Harbin, China
Jie Zhao*
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
*
Corresponding authors: Jie Chen; Email: [email protected]; Jizhuang Fan; Email: [email protected]; Jie Zhao; Email: [email protected]
Corresponding authors: Jie Chen; Email: [email protected]; Jizhuang Fan; Email: [email protected]; Jie Zhao; Email: [email protected]
Corresponding authors: Jie Chen; Email: [email protected]; Jizhuang Fan; Email: [email protected]; Jie Zhao; Email: [email protected]
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Abstract

Accurate online estimation of the payload parameters benefits robot control. In the existing approaches, however, on the one hand, only the linear friction model was used for online payload identification, which reduced the online estimation accuracy. On the other hand, the estimation models contain much noise because of using actual joint trajectory signals. In this article, a new estimation algorithm based on parameter difference for the payload dynamics is proposed. This method uses a nonlinear friction model for the online payload estimation instead of the traditionally linear one. In addition, it considers the commanded joint trajectory signals as the computation input to reduce the model noise. The main contribution of this article is to derive a symbolic relationship between the parameter difference and the payload parameters and then apply it to the online payload estimation. The robot base parameters without payload were identified offline and regarded as the prior information. The one with payload can be solved online by the recursive least squares method. The dynamics of the payload can be then solved online based on the numerical difference of the two parameter sets. Finally, experimental comparisons and a manual guidance application experiment are shown. The results confirm that our algorithm can improve the online payload estimation accuracy (especially the payload mass) and the manual guidance comfort.

Keywords

online payload estimationparameter differencedynamic identificationnonlinear friction modelUR10 robot
Type
Research Article
Information
Robotica , Volume 42 , Issue 8 , August 2024 , pp. 2690 - 2712
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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