Saixuan Chen1, Jie Yang1,*, Guohua Cui1, Fuzhou Niu2, Baiqiang Yao1, Yu Zhang1
CMES-Computer Modeling in Engineering & Sciences, Vol.134, No.3, pp. 2021-2039, 2023, DOI:10.32604/cmes.2022.022669
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… More >
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