Open Access
ARTICLE
Robot Zero-Moment Control Algorithm Based on Parameter Identification of Low-Speed Dynamic Balance
Saixuan Chen1, Jie Yang1,*, Guohua Cui1, Fuzhou Niu2, Baiqiang Yao1, Yu Zhang1
1
Shanghai University of Engineering Science, Shanghai, 201620, China
2
Suzhou University of Science and Technology, Suzhou, 215009, China
* Corresponding Author: Jie Yang. Email:
(This article belongs to the Special Issue: Advanced Intelligent Decision and Intelligent Control with Applications in Smart City)
Computer Modeling in Engineering & Sciences 2023, 134(3), 2021-2039. https://doi.org/10.32604/cmes.2022.022669
Received 21 March 2022; Accepted 13 May 2022; Issue published 20 September 2022
Abstract
This paper proposes a zero-moment control torque compensation technique. After compensating the gravity and
friction of the robot, it must overcome a small inertial force to move in compliance with the external force. The
principle of torque balance was used to realise the zero-moment dragging and teaching function of the lightweight
collaborative robot. The robot parameter identification based on the least square method was used to accurately
identify the robot torque sensitivity and friction parameters. When the robot joint rotates at a low speed, it can
approximately satisfy the torque balance equation. The experiment uses the joint position and the current motor
value collected during the whole moving process under the low-speed dynamic balance as the excitation signal to
realise the parameter identification. After the robot was compensated for gravity and static friction, more precise
torque control was realised. The zero-moment dragging and teaching function of the robot was more flexible, and
the drag process was smoother.
Keywords
Cite This Article
APA Style
Chen, S., Yang, J., Cui, G., Niu, F., Yao, B. et al. (2023). Robot zero-moment control algorithm based on parameter identification of low-speed dynamic balance. Computer Modeling in Engineering & Sciences, 134(3), 2021-2039. https://doi.org/10.32604/cmes.2022.022669
Vancouver Style
Chen S, Yang J, Cui G, Niu F, Yao B, Zhang Y. Robot zero-moment control algorithm based on parameter identification of low-speed dynamic balance. Comput Model Eng Sci. 2023;134(3):2021-2039 https://doi.org/10.32604/cmes.2022.022669
IEEE Style
S. Chen, J. Yang, G. Cui, F. Niu, B. Yao, and Y. Zhang "Robot Zero-Moment Control Algorithm Based on Parameter Identification of Low-Speed Dynamic Balance," Comput. Model. Eng. Sci., vol. 134, no. 3, pp. 2021-2039. 2023. https://doi.org/10.32604/cmes.2022.022669