Yukun Liu, Ruiqing Luo, Minghui He, Liang Du, Sheng Bao, Jianjun Yuan, Weiwei Wan
{"title":"基于摩擦模型的差动模块化机器人关节动力学建模与分析","authors":"Yukun Liu, Ruiqing Luo, Minghui He, Liang Du, Sheng Bao, Jianjun Yuan, Weiwei Wan","doi":"10.1109/ROBIO55434.2022.10011697","DOIUrl":null,"url":null,"abstract":"The study of friction has long been popular with scientists. Considering the coupling characteristic of multi-input-multi-output (MIMO) system, the coupling friction model was established, which was based on Coulomb-Viscous friction model for the differential modular robot joint (DMRJ) according to the law of conservation of energy. Then, we identified the coefficients of the friction model through the experiment. In order to verify the accuracy of the established friction model, we regarded the DMRJ as a 2-DoF linkage and built the inertial dynamic model based on Lie theory, whose inertial parameters were estimated by computer aided design (CAD). Besides, we chose the trajectory based on the Fourier series, which has good performance in anti-interference ability, as the verification trajectory. From the generated trajectories, we used a trajectory that is able to change as much as possible in speed, position and acceleration to estimate the accuracy of the model comprehensively. Finally, the result indicated the model had good accuracy.","PeriodicalId":151112,"journal":{"name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Dynamic modeling and analysis for a differential modular robot joint with the friction model\",\"authors\":\"Yukun Liu, Ruiqing Luo, Minghui He, Liang Du, Sheng Bao, Jianjun Yuan, Weiwei Wan\",\"doi\":\"10.1109/ROBIO55434.2022.10011697\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The study of friction has long been popular with scientists. Considering the coupling characteristic of multi-input-multi-output (MIMO) system, the coupling friction model was established, which was based on Coulomb-Viscous friction model for the differential modular robot joint (DMRJ) according to the law of conservation of energy. Then, we identified the coefficients of the friction model through the experiment. In order to verify the accuracy of the established friction model, we regarded the DMRJ as a 2-DoF linkage and built the inertial dynamic model based on Lie theory, whose inertial parameters were estimated by computer aided design (CAD). Besides, we chose the trajectory based on the Fourier series, which has good performance in anti-interference ability, as the verification trajectory. From the generated trajectories, we used a trajectory that is able to change as much as possible in speed, position and acceleration to estimate the accuracy of the model comprehensively. Finally, the result indicated the model had good accuracy.\",\"PeriodicalId\":151112,\"journal\":{\"name\":\"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"volume\":\"47 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-12-05\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBIO55434.2022.10011697\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBIO55434.2022.10011697","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Dynamic modeling and analysis for a differential modular robot joint with the friction model
The study of friction has long been popular with scientists. Considering the coupling characteristic of multi-input-multi-output (MIMO) system, the coupling friction model was established, which was based on Coulomb-Viscous friction model for the differential modular robot joint (DMRJ) according to the law of conservation of energy. Then, we identified the coefficients of the friction model through the experiment. In order to verify the accuracy of the established friction model, we regarded the DMRJ as a 2-DoF linkage and built the inertial dynamic model based on Lie theory, whose inertial parameters were estimated by computer aided design (CAD). Besides, we chose the trajectory based on the Fourier series, which has good performance in anti-interference ability, as the verification trajectory. From the generated trajectories, we used a trajectory that is able to change as much as possible in speed, position and acceleration to estimate the accuracy of the model comprehensively. Finally, the result indicated the model had good accuracy.