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This paper aims to improve the accuracy of robot payload identification and decrease the complexity in its industrial application by developing a new method based on the actuator current.

Instead of previous general robot dynamic modeling of the actuators, links, together with payload inertial parameters, the paper discovers that the difference of the actuator torque between the robot moving along the same trajectory with and without carrying payload can be described as a function of the payload inertial parameters directly. Then a direct dynamic identification model of payload is built, a set of specialized novel exciting trajectories are designed for accurate identification and the least square method is applied for the estimation of the load parameters.

The experiments confirm the effectiveness of the proposed method in robot payload identification. The identification accuracy is greatly improved compared with that of existing methods based on the actuator current and is close to the accuracy of the methods that direct use the wrist-mounted force-torque sensor.

As the provided experiments indicate, the proposed method expands the application range and greatly improves the accuracy, hence making payload identification fully operational in the industrial application.

The novelty of such an identification method is that it does not require the rotor inertias and inertial parameters of links as a prior knowledge, and the specially designed trajectories provide completed decoupling of the load parameters.

When a manipulator captures an unknown space object, inertia parameters of endpoint payload should be timely obtained to handle possible unexpected parameter variations and monitor the system’s operating conditions. Therefore, this study aims to present an identification method for estimating the inertia parameter of the payload carried by a flexible two-link space manipulator.

The original nonlinear dynamics model of the manipulator is linearized at a selected working point. Subsequently, the system modal frequencies with and without payload are determined using the subspace identification algorithm, and the difference of these frequencies is computed. Furthermore, by adjusting the structural configuration of the manipulator, multiple sets of frequency differences are obtained. Therefore, the inertia parameters of the payload, i.e. the mass and the moment of inertia, can be derived from the frequency differences by solving a least-squares problem.

The proposed method can effectively estimate the payload parameters and has satisfactory identification accuracy.

The approach’s implementation provides a practical reference for determining inertia parameters of an unknown space target in the capture process.

The study proposes a novel method for identifying the inertia parameters of the payload of a flexible two-link space manipulator using the estimated system frequencies.

This study aims to propose a novel method based on model learning with sparsity inducing norms for estimating dynamic gravity terms of the serial manipulators. This method is realized by operating the robot, acquiring data and filtering the features in signal acquisition to adapt to the dynamic gravity parameters.

The core principle of the method is to analyze the dictionary composition of the basis function of the model based on the dynamic equation and the Jacobian matrix of an arm. According to the structure of the basis function and the sparsity of the features, combined with joint-angle and driving-torque data acquisition, the effective features of dynamic gravity parameters are screened out using L1-norm optimization and learning algorithms.

The theoretical analysis revealed that training data obtained based on joint angles and driving torques could rapidly update dynamic gravity parameters. The simulation experiment was carried out by using the publicly available robot model and compared with the previous disassembly method to evaluate the feasibility and performance. The real 7-degree of freedom (DOF) industrial manipulator was used to further discuss the effects of the feature selection. The results show that this estimation method can be fully operational and efficient in industrial applications.

This approach is applicable to most serial robots with multi-DOF and the dynamic gravity parameters of the robot are estimated through learning and optimization. The method does not require prior knowledge of the robot arm structure and only requires joint-angle and driving-torque data acquisition under low-speed motion. Furthermore, as it is a data-driven-based method, it can be applied to gravity parameters updating.

Different from previous general robot dynamic modelling methods, the sparsity of the analytical form of dynamic equations was exploited and model learning was formulated as a convex optimization problem to achieve effective gravity parameters screening. The novelty of this estimation approach is that the method does not only require any prior knowledge but also does not require a specifically designed trajectory. Thus, this method can avoid the laborious work of parameter calibration and the induced modelling errors. By using a data-driven learning approach, the new parameter updating process can be completed conveniently when the robot carries additional mass or the end-effector changes for different tasks.

Part two of this article looks at the TELECOM 2, HISPASAT communications satellites and SOHO the scientific satellite. It also examines Matra's involvement in the ARIANES project.

This paper aims to propose a novel method to identify the parameters of robotic manipulators using the torque exerted by the robot joint motors (measured by current sensors).

Previous studies used additional sensors like force sensor and inertia measurement unit, or additional payload mounted on the end-effector to perform parameter identification. The settings of these previous works were complicated. They could only identify part of the parameters. This paper uses the torque exerted by each joint while performing Fourier periodic excited trajectories. It divides the parameters into a linear part and a non-linear part, and uses linear least square (LLS) parameter estimation and dual-swarm-based particle swarm optimization (DPso) to compute the linear and non-linear parts, respectively.

The settings are simpler and can identify the dynamic parameters, the viscous friction coefficients and the Coulomb friction coefficients of two joints at the same time. A SIASUN 7-Axis Flexible Robot is used to experimentally validate the proposal. Comparison between the predicted torque values and ground-truth values of the joints confirms the effectiveness of the method.

The proposed method identifies two joints at the same time with satisfying precision and high efficiency. The identification errors of joints do not accumulate.

The purpose of this paper is to enhance control accuracy, energy efficiency and productivity of customized industrial robots by the proposed multi-objective trajectory optimization approach. To obtain accurate dynamic matching torques of the robot joints with optimal motion, an improved dynamic model built by a novel parameter identification method has been proposed.

This paper proposes a novel multi-objective optimal approach to minimize the time and energy consumption of robot trajectory. First, the authors develop a reliable dynamic parameters identification method to obtain joint torques for formulating the normalized energy optimization function and dynamic constraints. Then, optimal trajectory variables are solved by converting the objective function into relaxation constraints based on second-order cone programming and Runge–Kutta discrete method to reduce the solving complexity.

Extensive experiments via simulation and in real customized robots are conducted. The results of this paper illustrate that the accuracy of joint torque predicted by the proposed model increases by 28.79% to 79.05% over the simplified models used in existing optimization studies. Meanwhile, under the same solving efficiency, the proposed optimization trajectory consumes a shorter time and less energy compared with the existing optimization ones and the polynomial trajectory.

A novel time-energy consumption optimal trajectory planning method based on dynamic identification is proposed. Most existing optimization methods neglect the effect of dynamic model reliability on energy efficiency optimization. A novel parameter identification approach and a complete dynamic torque model are proposed. Experimental results of dynamic matching torques verify that the control accuracy of optimal robot motion can be significantly improved by the proposed model.

This paper aims to argue on the efficiency of Quality of Service (QoS)-based adaptive streaming with regards to perceived quality Quality of Experience (QoE). Although QoS parameters are extensively used even by high-end adaptive streaming algorithms, achieved QoE fails to justify their use in real-time streaming videos with high motion. While subjective measurements of video quality are difficult to be applied at runtime, objective QoE assessment can be easier to automate. For end-to-end QoS optimization of live streaming of high-motion video, objective QoE is a more applicable approach. This paper contributes to the understanding of how specific QoS parameters affect objective QoE measurements on real-time high-motion video streaming.

The paper approached the question through real-life and extensive experimentation using the Skype adaptive mechanisms. Two Skype terminals were connected through a QoS impairment box. A reference video was used as input to one Skype terminal and streamed on one direction. The impairment box was stressing the stream with different conditions. Received video was stored and compared against the reference video.

After the experimental analysis, the paper concludes that adaptive mechanisms based on QoS-related heuristics fail to follow unexpected changes to stream requirements. High-motion videos are an example of this variability, which makes the perceived quality sensitive to jitter more than to packet loss. More specifically, Skype seems to use if-else heuristics to decide its behavior to QoS changes. The weaknesses to high-motion videos seem to lie on this rigidity.

Due to the testbed developed, the results may be different if experiments are run over networks with simultaneous streams and a variety of other traffic patterns. Finally, other streaming clients and algorithms would contribute to a more reliable generalization.

The paper motivates video streaming engineers to emphasize their efforts toward QoE and end-to-end optimization.

The paper identifies the need of a generic adaptive streaming algorithm able to accommodate a big range of video characteristics. The effect of QoS variability to high-motion video streaming helps in modeling and design.

Reports from the Hanover Factory Automation show. Reviews new robots and automation systems. Highlights applications using vision. Identifies trend for off‐line programming software from robot makers.

Examines the Internet’s potential for becoming an information highway. Defines the information highway and the Internet. Describes the characteristics of an information highway. The concept of an information highway puts some requirements on the infrastructure. The users of an information highway, who are located in the residential and business environment, have their share of requirements as well, but they focus on the requirements put forward by the services or applications they will use on an information highway. Checks whether the Internet has implemented these properties and how, or if work is going on to develop them. The framework for this discussion is the TCP/IP reference model. Places some emphasis on the IP next generation protocol, IP version 6 (IPv6). Provides an overview showing all the properties with an indication of how well the posed requirements are met. Concludes that the Internet certainly has potential for becoming an information highway.

This paper aims to propose a forcefree control algorithm that is based on a dynamic model with full torque compensation is proposed to improve the compliance and flexibility of the direct teaching of cooperative robots.

Dynamic parameters identification is performed first to obtain an accurate dynamic model. The identification process is divided into two steps to reduce the complexity of trajectory simplification, and each step contains two excitation trajectories for higher identification precision. A nonlinear friction model that considers the angular displacement and angular velocity of joints is proposed as a secondary compensation for identification. A torque compensation algorithm that is based on the Hogan impedance model is proposed, and the torque obtained by an impedance equation is regarded as the command torque, which can be adjusted. The compensatory torque, including gravity torque, inertia torque, friction torque and Coriolis torque, is added to the compensation to improve the effect of forcefree control.

The model improves the total accuracy of the dynamic model by approximately 20% after compensation. Compared with the traditional method, the results prove that the forcefree control algorithm can effectively reduce the drag force approximately 50% for direct teaching and realize a flexible and smooth drag.

The entire algorithm is verified by the laboratory-developed six degrees-of-freedom cooperative robot, and it can be applied to other robots as well.

A full torque compensation is performed after parameters identification, and a more accurate forcefree control is guaranteed. This allows the cooperative robot to be dragged more smoothly without external sensors.