Robot interaction force estimation method based on environment rigidity online identification

Robot interaction force estimation method based on environment rigidity online identification

The invention relates to a robot interaction force estimation method based on environment rigidity online identification, and belongs to the field of industrial robot automatic control. Firstly, on the basis of environment rigidity characteristics and robot kinematics, the coupling relation between...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Hauptverfasser: LEE MOON-SEOK, CUI YANGYANG, WEI YANRAN, GUO LEI, YU XIANG, CHEN ZESHUAI
Format: Patent
Sprache:chi ; eng
Schlagworte:
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
Online-Zugang:Volltext bestellen
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
container_end_page
container_issue
container_start_page
container_title
container_volume
creator LEE MOON-SEOK
CUI YANGYANG
WEI YANRAN
GUO LEI
YU XIANG
CHEN ZESHUAI
description The invention relates to a robot interaction force estimation method based on environment rigidity online identification, and belongs to the field of industrial robot automatic control. Firstly, on the basis of environment rigidity characteristics and robot kinematics, the coupling relation between tail end interaction force and a robot momentum system is represented, and a generation model of environment interaction force is established; secondly, in combination with a robot Euler-Lagrange dynamics model, an interaction force estimation system deep coupling model containing unknown environment rigidity parameters is established; and finally, designing an iterative optimization method of environment rigidity online identification and interaction force estimation, and realizing adaptive separation estimation of the interaction force of the robot. According to the method, force sensor-free force estimation capable of performing structured modeling on the robot environment interaction force is realized, and the
format Patent
fullrecord <record><control><sourceid>epo_EVB</sourceid><recordid>TN_cdi_epo_espacenet_CN117226825A</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sourcerecordid>CN117226825A</sourcerecordid><originalsourceid>FETCH-epo_espacenet_CN117226825A3</originalsourceid><addsrcrecordid>eNqNy70KwkAQBOA0FqK-w_oAFon400pQrCzEVsLlbhIXkt1wtwi-vSH4AFbDfMzMs-ddazViMUTnjVWo0ehBSMa9m6CHvTRQ7RICjR3y5qjSQ4witxzYPqN3LCAOo3LDfrous1njuoTVLxfZ-nJ-lNcNBq2QBuchsKq85fmhKPbHYnfa_rP5AnllPUA</addsrcrecordid><sourcetype>Open Access Repository</sourcetype><iscdi>true</iscdi><recordtype>patent</recordtype></control><display><type>patent</type><title>Robot interaction force estimation method based on environment rigidity online identification</title><source>esp@cenet</source><creator>LEE MOON-SEOK ; CUI YANGYANG ; WEI YANRAN ; GUO LEI ; YU XIANG ; CHEN ZESHUAI</creator><creatorcontrib>LEE MOON-SEOK ; CUI YANGYANG ; WEI YANRAN ; GUO LEI ; YU XIANG ; CHEN ZESHUAI</creatorcontrib><description>The invention relates to a robot interaction force estimation method based on environment rigidity online identification, and belongs to the field of industrial robot automatic control. Firstly, on the basis of environment rigidity characteristics and robot kinematics, the coupling relation between tail end interaction force and a robot momentum system is represented, and a generation model of environment interaction force is established; secondly, in combination with a robot Euler-Lagrange dynamics model, an interaction force estimation system deep coupling model containing unknown environment rigidity parameters is established; and finally, designing an iterative optimization method of environment rigidity online identification and interaction force estimation, and realizing adaptive separation estimation of the interaction force of the robot. According to the method, force sensor-free force estimation capable of performing structured modeling on the robot environment interaction force is realized, and the</description><language>chi ; eng</language><subject>CHAMBERS PROVIDED WITH MANIPULATION DEVICES ; HAND TOOLS ; MANIPULATORS ; PERFORMING OPERATIONS ; PORTABLE POWER-DRIVEN TOOLS ; TRANSPORTING</subject><creationdate>2023</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&amp;date=20231215&amp;DB=EPODOC&amp;CC=CN&amp;NR=117226825A$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,776,881,25542,76290</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&amp;date=20231215&amp;DB=EPODOC&amp;CC=CN&amp;NR=117226825A$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>LEE MOON-SEOK</creatorcontrib><creatorcontrib>CUI YANGYANG</creatorcontrib><creatorcontrib>WEI YANRAN</creatorcontrib><creatorcontrib>GUO LEI</creatorcontrib><creatorcontrib>YU XIANG</creatorcontrib><creatorcontrib>CHEN ZESHUAI</creatorcontrib><title>Robot interaction force estimation method based on environment rigidity online identification</title><description>The invention relates to a robot interaction force estimation method based on environment rigidity online identification, and belongs to the field of industrial robot automatic control. Firstly, on the basis of environment rigidity characteristics and robot kinematics, the coupling relation between tail end interaction force and a robot momentum system is represented, and a generation model of environment interaction force is established; secondly, in combination with a robot Euler-Lagrange dynamics model, an interaction force estimation system deep coupling model containing unknown environment rigidity parameters is established; and finally, designing an iterative optimization method of environment rigidity online identification and interaction force estimation, and realizing adaptive separation estimation of the interaction force of the robot. According to the method, force sensor-free force estimation capable of performing structured modeling on the robot environment interaction force is realized, and the</description><subject>CHAMBERS PROVIDED WITH MANIPULATION DEVICES</subject><subject>HAND TOOLS</subject><subject>MANIPULATORS</subject><subject>PERFORMING OPERATIONS</subject><subject>PORTABLE POWER-DRIVEN TOOLS</subject><subject>TRANSPORTING</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2023</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNqNy70KwkAQBOA0FqK-w_oAFon400pQrCzEVsLlbhIXkt1wtwi-vSH4AFbDfMzMs-ddazViMUTnjVWo0ehBSMa9m6CHvTRQ7RICjR3y5qjSQ4witxzYPqN3LCAOo3LDfrous1njuoTVLxfZ-nJ-lNcNBq2QBuchsKq85fmhKPbHYnfa_rP5AnllPUA</recordid><startdate>20231215</startdate><enddate>20231215</enddate><creator>LEE MOON-SEOK</creator><creator>CUI YANGYANG</creator><creator>WEI YANRAN</creator><creator>GUO LEI</creator><creator>YU XIANG</creator><creator>CHEN ZESHUAI</creator><scope>EVB</scope></search><sort><creationdate>20231215</creationdate><title>Robot interaction force estimation method based on environment rigidity online identification</title><author>LEE MOON-SEOK ; CUI YANGYANG ; WEI YANRAN ; GUO LEI ; YU XIANG ; CHEN ZESHUAI</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_CN117226825A3</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>chi ; eng</language><creationdate>2023</creationdate><topic>CHAMBERS PROVIDED WITH MANIPULATION DEVICES</topic><topic>HAND TOOLS</topic><topic>MANIPULATORS</topic><topic>PERFORMING OPERATIONS</topic><topic>PORTABLE POWER-DRIVEN TOOLS</topic><topic>TRANSPORTING</topic><toplevel>online_resources</toplevel><creatorcontrib>LEE MOON-SEOK</creatorcontrib><creatorcontrib>CUI YANGYANG</creatorcontrib><creatorcontrib>WEI YANRAN</creatorcontrib><creatorcontrib>GUO LEI</creatorcontrib><creatorcontrib>YU XIANG</creatorcontrib><creatorcontrib>CHEN ZESHUAI</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>LEE MOON-SEOK</au><au>CUI YANGYANG</au><au>WEI YANRAN</au><au>GUO LEI</au><au>YU XIANG</au><au>CHEN ZESHUAI</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>Robot interaction force estimation method based on environment rigidity online identification</title><date>2023-12-15</date><risdate>2023</risdate><abstract>The invention relates to a robot interaction force estimation method based on environment rigidity online identification, and belongs to the field of industrial robot automatic control. Firstly, on the basis of environment rigidity characteristics and robot kinematics, the coupling relation between tail end interaction force and a robot momentum system is represented, and a generation model of environment interaction force is established; secondly, in combination with a robot Euler-Lagrange dynamics model, an interaction force estimation system deep coupling model containing unknown environment rigidity parameters is established; and finally, designing an iterative optimization method of environment rigidity online identification and interaction force estimation, and realizing adaptive separation estimation of the interaction force of the robot. According to the method, force sensor-free force estimation capable of performing structured modeling on the robot environment interaction force is realized, and the</abstract><oa>free_for_read</oa></addata></record>
fulltext fulltext_linktorsrc
identifier
ispartof
issn
language chi ; eng
recordid cdi_epo_espacenet_CN117226825A
source esp@cenet
subjects CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
title Robot interaction force estimation method based on environment rigidity online identification
url https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-30T20%3A01%3A43IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-epo_EVB&rft_val_fmt=info:ofi/fmt:kev:mtx:patent&rft.genre=patent&rft.au=LEE%20MOON-SEOK&rft.date=2023-12-15&rft_id=info:doi/&rft_dat=%3Cepo_EVB%3ECN117226825A%3C/epo_EVB%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rfr_iscdi=true