Parameter Identification of an Unknown Object in Human-Robot Collaborative Manipulation

2020 ◽  
Author(s):  
Jayoung Jang ◽  
Jong Hyeon Park
Keyword(s):  
Parameter Identification ◽  
Unknown Object

Parameter Identification of a Grasp by a Planar Two-Fingered Robot Hand

1993 ◽  
Vol 5 (1) ◽  
pp. 12-18 ◽  
Author(s):  
Nobuharu Mimura ◽  
◽  
Yasuyuki Funahashi ◽  
Keyword(s):  
Parameter Identification ◽  
Robot Hand ◽  
Joint Angles ◽  
Unknown Parameters ◽  
Numerical Example ◽  
Contact Points ◽  
Unknown Object

Unknown forced and unknown contact points for the case in which a planar two-fingered robot hand achieves a stable grasp on an unknown object are identified in this paper. It is shown that the unknown parameters of the grasping system can be identified by detection of joint angles and torques while the object is manipulated slightly. Finally, it is illustrated by a numerical example that the algorithm of the grasp parameter identification is valid.

Dynamic Parameter Identification of Unknown Object Handled by Space Manipulator

2014 ◽  
Vol 487 ◽  
pp. 276-281 ◽  
Author(s):  
Gang Chen ◽  
Zhi Lian Chen ◽  
Qing Xuan Jia ◽  
Han Xu Sun
Keyword(s):  
Parameter Identification ◽  
Dynamic Characteristic ◽  
Dynamic Parameter ◽  
Momentum Conservation ◽  
Dynamic Parameters ◽  
Robot System ◽  
Space Manipulator ◽  
Experimental Process ◽  
Dynamic Parameter Identification ◽  
Unknown Object

This paper presents a dynamic parameter identification method of the unknown object handled by manipulator. Since the load will change the dynamic characteristic of space robot system, it is necessary to identify the dynamic parameters of the handled object. The dynamic parameters of the handled object are identified based on principle of momentum conservation in this paper. The principle and experimental process of the identification is introduced and the feasibility of the method is verified by simulation.

Parameter identification of unknown object handled by free-flying space robot

1994 ◽  
Vol 17 (3) ◽  
pp. 488-494 ◽  
Author(s):  
Yoshisada Murotsu ◽  
Kei Senda ◽  
Mitsuhiro Ozaki ◽  
Showzow Tsujio
Keyword(s):  
Parameter Identification ◽  
Space Robot ◽  
Unknown Object

Parameter identification of unknown object handled by free-flying space robot

1992 ◽  
Author(s):  
YOSHISADA MUROTSU ◽  
SHOWZOW TSUJIO ◽  
KEI SENDA ◽  
MITSUHIRO OZAKI
Keyword(s):  
Parameter Identification ◽  
Space Robot ◽  
Unknown Object
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