Dynamics Modeling and Parameters Identification Research on Rope Driven Biped Robot Legs
The rope driven robot has received widespread attention and application due to the high-efficiency conduction and essential flexibility. However, there are problems such as joint coupling, complex dynamic models, and difficulty in identifying parameters. To this end, this study proposes an overall i...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2024-08-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.08.003 |
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| _version_ | 1841546958084243456 |
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| author | Zhu Zhenbiao Tang Jun Liang Zhiyuan Li Qingdu |
| author_facet | Zhu Zhenbiao Tang Jun Liang Zhiyuan Li Qingdu |
| author_sort | Zhu Zhenbiao |
| collection | DOAJ |
| description | The rope driven robot has received widespread attention and application due to the high-efficiency conduction and essential flexibility. However, there are problems such as joint coupling, complex dynamic models, and difficulty in identifying parameters. To this end, this study proposes an overall identification method based on the rope driven biped robot, using joint angles and current information to overcome the disadvantages of traditional force sensors, and reduce the difficulty of the overall development of biped robots. Firstly, a complete rope driven dynamic model is established, and the excitation trajectory generated by pattern recognition and algorithm optimization is used. Then, the optimized trajectory is implemented on actual robots, and the joint angles and current information are collected through the sensors. Finally, the least square method with the physical consistency is used to estimate the dynamics parameters. This study uses the M02 rope driven robot to perform dynamic parameter identification experiments and compares the prediction results obtained from the method mentioned with the actual results. The experimental results show that the minimum percentage of the relative error between the predictive torque and the actual torque can reach 13.36%, indicating that the overall identification method based on the joint angle and the current information proposed can be effectively applied to the bilateral robots driven by ropes. |
| format | Article |
| id | doaj-art-b80f3a6cbc7841278b3c1ccefbc110df |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2024-08-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-b80f3a6cbc7841278b3c1ccefbc110df2025-01-10T15:01:16ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392024-08-0148182567631723Dynamics Modeling and Parameters Identification Research on Rope Driven Biped Robot LegsZhu ZhenbiaoTang JunLiang ZhiyuanLi QingduThe rope driven robot has received widespread attention and application due to the high-efficiency conduction and essential flexibility. However, there are problems such as joint coupling, complex dynamic models, and difficulty in identifying parameters. To this end, this study proposes an overall identification method based on the rope driven biped robot, using joint angles and current information to overcome the disadvantages of traditional force sensors, and reduce the difficulty of the overall development of biped robots. Firstly, a complete rope driven dynamic model is established, and the excitation trajectory generated by pattern recognition and algorithm optimization is used. Then, the optimized trajectory is implemented on actual robots, and the joint angles and current information are collected through the sensors. Finally, the least square method with the physical consistency is used to estimate the dynamics parameters. This study uses the M02 rope driven robot to perform dynamic parameter identification experiments and compares the prediction results obtained from the method mentioned with the actual results. The experimental results show that the minimum percentage of the relative error between the predictive torque and the actual torque can reach 13.36%, indicating that the overall identification method based on the joint angle and the current information proposed can be effectively applied to the bilateral robots driven by ropes.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.08.003Biped robotRope drivenKinematicsDynamicsParameter identification |
| spellingShingle | Zhu Zhenbiao Tang Jun Liang Zhiyuan Li Qingdu Dynamics Modeling and Parameters Identification Research on Rope Driven Biped Robot Legs Jixie chuandong Biped robot Rope driven Kinematics Dynamics Parameter identification |
| title | Dynamics Modeling and Parameters Identification Research on Rope Driven Biped Robot Legs |
| title_full | Dynamics Modeling and Parameters Identification Research on Rope Driven Biped Robot Legs |
| title_fullStr | Dynamics Modeling and Parameters Identification Research on Rope Driven Biped Robot Legs |
| title_full_unstemmed | Dynamics Modeling and Parameters Identification Research on Rope Driven Biped Robot Legs |
| title_short | Dynamics Modeling and Parameters Identification Research on Rope Driven Biped Robot Legs |
| title_sort | dynamics modeling and parameters identification research on rope driven biped robot legs |
| topic | Biped robot Rope driven Kinematics Dynamics Parameter identification |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.08.003 |
| work_keys_str_mv | AT zhuzhenbiao dynamicsmodelingandparametersidentificationresearchonropedrivenbipedrobotlegs AT tangjun dynamicsmodelingandparametersidentificationresearchonropedrivenbipedrobotlegs AT liangzhiyuan dynamicsmodelingandparametersidentificationresearchonropedrivenbipedrobotlegs AT liqingdu dynamicsmodelingandparametersidentificationresearchonropedrivenbipedrobotlegs |