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Robot dynamic calibration on current level: modeling, identification and applications

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Abstract

Dynamic model calibration is an important issue and has broad applications in robotics. However, most of the previous works only focus on the robot dynamic calibration on torque level; that is, the identified parameters can predict the joint torques of robot. Unfortunately, little attention has been paid to the robot dynamic calibration on current level; that is, the identified parameters can predict the motor currents of robot. In order to address this problem, the main contribution of this article is to propose a systematic framework for robot dynamic calibration on current level, which includes modeling, identification and its applications. To the best of the authors’ knowledge, it is the first systematic work on the robot dynamic calibration on current level. Specifically, a novel dynamic identification model on current level is firstly derived. Then, an identification method based on iterations is proposed to identify the dynamic parameters on current level. Afterward, two applications based on the identification results on current level are explored. One application is to use the current-level identification results for identifying joint drive gains accurately. The other application is to use the current-level identification results to compute current residuals for robot collision detection. The advantage of the current residuals is to contain less cumulative errors. Finally, the proposed theories are validated by various experiments on the UR10 robot.

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Data availability

The datasets generated during and/or analyzed during the current study are available from the corresponding authors on reasonable request.

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Acknowledgements

The authors would like to thank the reviewers for their professional comments on the improvement of this article.

Funding

This work was supported by the National Key Research and Development Plan [Grant Number 2018YFB1306901] and the National Natural Science Foundation of China [Grant Number 92048301].

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Authors and Affiliations

  1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150080, China

    Tian Xu, Jizhuang Fan, Qianqian Fang, Yanhe Zhu & Jie Zhao

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  1. Tian Xu
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  2. Jizhuang Fan
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  3. Qianqian Fang
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  4. Yanhe Zhu
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  5. Jie Zhao
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Correspondence to Jizhuang Fan, Yanhe Zhu or Jie Zhao.

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Xu, T., Fan, J., Fang, Q. et al. Robot dynamic calibration on current level: modeling, identification and applications. Nonlinear Dyn 109, 2595–2613 (2022). https://doi.org/10.1007/s11071-022-07579-0

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