首页|Study Findings from Northeastern University Provide New Insights into Robotics ( A Three-loop Physical Parameter Identification Method of Robot Manipulators Cons idering Physical Feasibility and Nonlinear Friction Model)
Study Findings from Northeastern University Provide New Insights into Robotics ( A Three-loop Physical Parameter Identification Method of Robot Manipulators Cons idering Physical Feasibility and Nonlinear Friction Model)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Investigators publish new report on Ro botics. According to news reporting originating in Shenyang, People's Republic o f China, by NewsRx journalists, research stated, "This paper proposed a three-lo op physical parameter identification method considering physical feasibility and nonlinear friction model. The full physical parameters can be obtained with phy sical feasibility by constructing an optimization problem."Financial supporters for this research include Liaoning Province Basic Research Program, National Natural Science Foundation of China (NSFC). The news reporters obtained a quote from the research from Northeastern Universi ty, "And the nonlinear friction model which considered Stribeck effect is employ ed to improve identification accuracy. In the first loop, the physical parameter s are identified with a regression model. In the second loop, the nonlinear fric tion model is identified with a nonlinear optimization method. And in the third loop, the obtained friction parameters are updated and the identification result s are to be further optimized. Different from traditional methods like the least squares (LS), weight least squares (WLS) and other optimization methods which c an only get base parameters and do not consider Stribeck effect, the proposed sc heme can get physical parameters with physical constraints. It is useful in many robotic applications, like model-based control. The Stribeck effect is also emp loyed to improve identification accuracy."
ShenyangPeople's Republic of ChinaAs iaEmerging TechnologiesMachine LearningRobotRoboticsNortheastern Unive rsity
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