Payload Identification and Gravity/Inertial Compensation for Six-Dimensional Force/Torque Sensor with a Fast and Robust Trajectory Design Approach

In the robot contact operation, the robot relies on the multi-dimensional force/torque sensor installed at the end to sense the external contact force. When the effective load and speed of the robot are large, the gravity/inertial force generated by it will have a non-negligible impact on the output of the force sensor, which will seriously affect the accuracy and effect of the force control. The existing identification algorithm time is often longer, which also affects the efficiency of force control operations. In this paper, a self-developed multi-dimensional force sensor with integrated gravity/inertial force sensing function is used to directly measure the resultant force. Further, a method for the rapid identification of payload based on excitation trajectory is proposed. Firstly, both a gravity compensation algorithm and an inertial force compensation algorithm are introduced. Secondly, the optimal spatial recognition pose based on the excitation trajectory was designed, and the excitation trajectory of each joint is represented by a finite Fourier series. The least square method is used to calculate the identification parameters of the load, the gravity, and inertial force. Finally, the experiment was verified on the robot. The experimental results show that the algorithm can quickly identify the payload, and it is faster and more accurate than other algorithms.

Research on Fast Compensation Algorithm for Interframe Motion of Multimedia Video Based on Manhattan Distance

To improve the video quality, aiming at the problems of low peak signal-to-noise ratio, poor visual effect, and low bit rate of traditional methods, this paper proposes a fast compensation algorithm for the interframe motion of multimedia video based on Manhattan distance. The absolute median difference based on wavelet transform is used to estimate the multimedia video noise. According to the Gaussian noise variance estimation result, the active noise mixing forensics algorithm is used to preprocess the original video for noise mixing, and the fuzzy C-means clustering method is used to smoothly process the noisy multimedia video and obtain significant information from the multimedia video. The block-based motion idea is to divide each frame of the video sequence into nonoverlapping macroblocks, find the best position of the block corresponding to the current frame in the reference frame according to the specific search range and specific rules, and obtain the relative Manhattan distance between the current frame and the background of multimedia video using the Manhattan distance calculation formula. Then, the motion between the multimedia video frames is compensated. The experimental results show that the algorithm in this paper has a high peak signal-to-noise ratio and a high bit rate, which effectively improves the visual effect of the video.