Model Calibration for a Rigid Hexapod-Based End-Effector with Integrated Force Sensors.
Model Calibration for a Rigid Hexapod-Based End-Effector with Integrated Force Sensors.
复制标题
DOI：
10.3390/s21103537
复制
发表时间：
2021-05-19
期刊：
影响因子：
--
通讯作者：
Ihlenfeldt S
中科院分区：
文献类型：
--
作者：
Friedrich C;Ihlenfeldt S
集成的单轴力传感器可在六足结构和运动学的6个自由度上进行精确且经济高效的力测量。根据传感器的位置，测量会受到内力的影响，需要通过测量模型进行补偿。由于模型的参数在机器使用过程中可能会发生变化，因此需要快速简便的校准程序。本文以刚性六足末端执行器为例，研究了力测量模型的参数辨识方法。首先，测量和识别模型和参数灵敏度分析。接下来，两个激励策略的应用和讨论：识别从准静态姿势和识别从加速连续轨迹。姿势和轨迹都通过不同的标准进行优化，并进行比较。最后，参考有效载荷的实验研究的程序进行了验证。总之，这两种策略都允许在操作机器状态下的快速过程中进行准确的参数识别。
Integrated single-axis force sensors allow an accurate and cost-efficient force measurement in 6 degrees of freedom for hexapod structures and kinematics. Depending on the sensor placement, the measurement is affected by internal forces that need to be compensated for by a measurement model. Since the parameters of the model can change during machine usage, a fast and easy calibration procedure is requested. This work studies parameter identification procedures for force measurement models on the example of a rigid hexapod-based end-effector. First, measurement and identification models are presented and parameter sensitivities are analysed. Next, two excitation strategies are applied and discussed: identification from quasi-static poses and identification from accelerated continuous trajectories. Both poses and trajectories are optimized by different criteria and evaluated in comparison. Finally, the procedures are validated by experimental studies with reference payloads. In conclusion, both strategies allow accurate parameter identification within a fast procedure in an operational machine state.
登录
查看更多内容
影响因子：
9.2
作者：
Olsen, MM;Swevers, J;Verdonck, W
通讯作者：
Verdonck, W
DOI：
10.1016/s0020-7683(00)00141-4
发表时间：
2001-03-01
影响因子：
3.6
作者：
Grotjahn, M;Daemi, M;Heimann, B
通讯作者：
Heimann, B
影响因子：
9.2
作者：
Hollerbach, JM;Wampler, CW
通讯作者：
Wampler, CW
影响因子：
2.4
作者：
Genta, Gianfranco;Prato, Andrea;Galetto, Maurizio
通讯作者：
Galetto, Maurizio
影响因子：
1
作者：
Matich, Sebastian;Hessinger, Markus;Hatzfeld, Christian
通讯作者：
Hatzfeld, Christian