典型文献
Torque estimation for robotic joint with harmonic drive trans-mission based on system dynamic characteristics
文献摘要：
In the applications of joint control and robot move-ment, the joint torque estimation has been treated as an effec-tive technique and widely used. Researches are made to ana-lyze the kinematic and compliance model of the robot joint with harmonic drive to acquire high precision torque output. Through analyzing the structures of the harmonic drive and experiment apparatus, a scheme of the proposed joint torque estimation method based on both the dynamic characteristics and unscented Kalman filter (UKF) is designed and built. Based on research and scheme, torque estimation methods in view of only harmonic drive compliance model and compliance model with the Kalman filter are simulated as guidance and reference to promote the research on the torque estimation technique. Finally, a promoted torque estimation method depending on both harmonic drive compliance model and UKF is designed, and simulation results compared with the measurements of a commercial torque sensor, have verified the effectiveness of the proposed method.
文献关键词：
中图分类号：
作者姓名：
ZHU Minghong;XIAO Shu;YU Fei
作者机构：
Faculty of Electrical Engineering and Computer Science,Ningbo University,Ningbo 315211,China;College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150001,China;College of Mathematical Sciences,Harbin Engineering University,Harbin 150001,China
文献出处：
引用格式：
[1]ZHU Minghong;XIAO Shu;YU Fei-.Torque estimation for robotic joint with harmonic drive trans-mission based on system dynamic characteristics)[J].系统工程与电子技术（英文版）,2022(06):1320-1331
A类：
B类：
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AB值：
0.454187
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