@Article{cmes.2022.022669,
AUTHOR = {Saixuan Chen, Jie Yang, Guohua Cui, Fuzhou Niu, Baiqiang Yao, Yu Zhang},
TITLE = {Robot Zero-Moment Control Algorithm Based on Parameter Identification of Low-Speed Dynamic Balance},
JOURNAL = {Computer Modeling in Engineering \& Sciences},
VOLUME = {134},
YEAR = {2023},
NUMBER = {3},
PAGES = {2021--2039},
URL = {http://www.techscience.com/CMES/v134n3/49760},
ISSN = {1526-1506},
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.},
DOI = {10.32604/cmes.2022.022669}
}