A Graph Theory-Based Method for Dynamic Modeling and Parameter Identification of 6-DOF Industrial Robots

At present, the absolute positioning accuracy and control accuracy of industrial serial robots need to be improved to meet the accuracy requirements of precision manufacturing and precise control. An accurate dynamic model is an important theoretical basis for solving this problem, and precise dynam...

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Autores principales:	Jun Cheng, Shusheng Bi, Chang Yuan, Lin Chen, Yueri Cai, Yanbin Yao
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	6R robot system dynamical modeling dynamic model dynamic parameter identification graph theory Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
Acceso en línea:	https://doaj.org/article/0a402a79be994c6789b1970bda18e8fb
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spelling	oai:doaj.org-article:0a402a79be994c6789b1970bda18e8fb2021-11-25T16:42:31ZA Graph Theory-Based Method for Dynamic Modeling and Parameter Identification of 6-DOF Industrial Robots10.3390/app1122109882076-3417https://doaj.org/article/0a402a79be994c6789b1970bda18e8fb2021-11-01T00:00:00Zhttps://www.mdpi.com/2076-3417/11/22/10988https://doaj.org/toc/2076-3417At present, the absolute positioning accuracy and control accuracy of industrial serial robots need to be improved to meet the accuracy requirements of precision manufacturing and precise control. An accurate dynamic model is an important theoretical basis for solving this problem, and precise dynamic parameters are the prerequisite for precise control. The research of dynamics and parameter identification can greatly promote the application of robots in the field of precision manufacturing and automation. In this paper, we study the dynamical modeling and dynamic parameter identification of an industrial robot system with six rotational DOF (6R robot system) and propose a new method for identifying dynamic parameters. Our aim is to provide an accurate mathematical description of the dynamics of the 6R robot and to accurately identify its dynamic parameters. First, we establish an unconstrained dynamic model for the 6R robot system and rewrite it to obtain the dynamic parameter identification model. Second, we establish the constraint equations of the 6R robot system. Finally, we establish the dynamic model of the constrained 6R robot system. Through the ADAMS simulation experiment, we verify the correctness and accuracy of the dynamic model. The experiments prove that the result of parameter identification has extremely high accuracy and the dynamic model can accurately describe the 6R robot system mathematically. The dynamic modeling method proposed in this paper can be used as the theoretical basis for the study of 6R robot system dynamics and the study of dynamics-based control theory.Jun ChengShusheng BiChang YuanLin ChenYueri CaiYanbin YaoMDPI AGarticle6R robot systemdynamical modelingdynamic modeldynamic parameter identificationgraph theoryTechnologyTEngineering (General). Civil engineering (General)TA1-2040Biology (General)QH301-705.5PhysicsQC1-999ChemistryQD1-999ENApplied Sciences, Vol 11, Iss 10988, p 10988 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	6R robot system dynamical modeling dynamic model dynamic parameter identification graph theory Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
spellingShingle	6R robot system dynamical modeling dynamic model dynamic parameter identification graph theory Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999 Jun Cheng Shusheng Bi Chang Yuan Lin Chen Yueri Cai Yanbin Yao A Graph Theory-Based Method for Dynamic Modeling and Parameter Identification of 6-DOF Industrial Robots
description	At present, the absolute positioning accuracy and control accuracy of industrial serial robots need to be improved to meet the accuracy requirements of precision manufacturing and precise control. An accurate dynamic model is an important theoretical basis for solving this problem, and precise dynamic parameters are the prerequisite for precise control. The research of dynamics and parameter identification can greatly promote the application of robots in the field of precision manufacturing and automation. In this paper, we study the dynamical modeling and dynamic parameter identification of an industrial robot system with six rotational DOF (6R robot system) and propose a new method for identifying dynamic parameters. Our aim is to provide an accurate mathematical description of the dynamics of the 6R robot and to accurately identify its dynamic parameters. First, we establish an unconstrained dynamic model for the 6R robot system and rewrite it to obtain the dynamic parameter identification model. Second, we establish the constraint equations of the 6R robot system. Finally, we establish the dynamic model of the constrained 6R robot system. Through the ADAMS simulation experiment, we verify the correctness and accuracy of the dynamic model. The experiments prove that the result of parameter identification has extremely high accuracy and the dynamic model can accurately describe the 6R robot system mathematically. The dynamic modeling method proposed in this paper can be used as the theoretical basis for the study of 6R robot system dynamics and the study of dynamics-based control theory.
format	article
author	Jun Cheng Shusheng Bi Chang Yuan Lin Chen Yueri Cai Yanbin Yao
author_facet	Jun Cheng Shusheng Bi Chang Yuan Lin Chen Yueri Cai Yanbin Yao
author_sort	Jun Cheng
title	A Graph Theory-Based Method for Dynamic Modeling and Parameter Identification of 6-DOF Industrial Robots
title_short	A Graph Theory-Based Method for Dynamic Modeling and Parameter Identification of 6-DOF Industrial Robots
title_full	A Graph Theory-Based Method for Dynamic Modeling and Parameter Identification of 6-DOF Industrial Robots
title_fullStr	A Graph Theory-Based Method for Dynamic Modeling and Parameter Identification of 6-DOF Industrial Robots
title_full_unstemmed	A Graph Theory-Based Method for Dynamic Modeling and Parameter Identification of 6-DOF Industrial Robots
title_sort	graph theory-based method for dynamic modeling and parameter identification of 6-dof industrial robots
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/0a402a79be994c6789b1970bda18e8fb
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A Graph Theory-Based Method for Dynamic Modeling and Parameter Identification of 6-DOF Industrial Robots

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