Search results
1 – 6 of 6Jian-jun Yuan, Weiwei Wan, Xiajun Fu, Shuai Wang and Ning Wang
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).
Abstract
Purpose
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).
Design/methodology/approach
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.
Findings
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.
Originality/value
The proposed method identifies two joints at the same time with satisfying precision and high efficiency. The identification errors of joints do not accumulate.
Details
Keywords
Jungwon Lee, Ohsung Kim and Cheol Park
The purpose of this study is to analyze the nonlinear effects of corporate philanthropy on the responses of both internal and external stakeholders as well as its impact on…
Abstract
Purpose
The purpose of this study is to analyze the nonlinear effects of corporate philanthropy on the responses of both internal and external stakeholders as well as its impact on corporate financial performance.
Design/methodology/approach
Based on the stakeholder theory, the authors developed a conceptual model to examine the nonlinear effects of corporate philanthropy on company performance. For the empirical analysis, data from 397 company-years was analyzed using a using a Heckman two-stage model. The robustness of the findings was also confirmed through panel regression analysis.
Findings
The study revealed a linear relationship between corporate reputation and corporate philanthropy, whereas job satisfaction exhibited a nonlinear relationship with corporate philanthropy.
Originality/value
This research bridges the gap in extant literature by scrutinizing the nonlinear associations between corporate philanthropy and financial performance. Additionally, it addresses an emerging scholarly demand to uncover the “dark side” of corporate philanthropy through an investigation into its adverse impacts on employee satisfaction. Moreover, the study augments existing understandings of stakeholder theory and corporate philanthropy, positing that the influence of corporate philanthropy, as conceptualized through stakeholder theory, hinges on perceived fairness in multilateral relationships.
Details
Keywords
Yunfei Dong, Tianyu Ren, Ken Chen and Dan Wu
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…
Abstract
Purpose
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.
Design/methodology/approach
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.
Findings
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.
Practical implications
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.
Originality/value
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.
Details
Keywords
Gianluca Antonelli, Stefano Chiaverini, Gian Paolo Gerio, Marco Palladino and Gerardo Renga
A minimum‐time path‐following algorithm for industrial robots is presented in this paper.
Abstract
Purpose
A minimum‐time path‐following algorithm for industrial robots is presented in this paper.
Design/methodology/approach
The algorithm generates off‐line a trajectory that, by exploiting knowledge of the dynamic model, takes into account the actuators' torque limits while preserving the geometric path.
Findings
The algorithm has been designed, implemented and extensively tested on a Comau SMART H4 robot, a closed‐chain six‐degree‐of‐freedom industrial manipulator.
Practical implications
The algorithm is currently part of the new generation of industrial controllers of the Comau robots, the C4G controller. It is a feature added as with the name SmartMove4.
Originality/value
The paper presents a new minimum‐time path‐following algorithm for industrial robots that, by exploiting knowledge of the dynamic model, takes into account the actuators' torque limits while preserving the geometric path.
Details
Keywords
Preeti Narwal and Jogendra Kumar Nayak
This paper aims to investigate consumer behaviour in response to social norms under pay-what-you-want (PWYW) pricing. Specifically, it explores the critical role of social norms…
Abstract
Purpose
This paper aims to investigate consumer behaviour in response to social norms under pay-what-you-want (PWYW) pricing. Specifically, it explores the critical role of social norms such as norm priming and consumer prior trust in the retailer on consumers’ perceived price fairness, trust, willingness to pay, purchase intentions and intentions to spread negative word of mouth about the retailer.
Design/methodology/approach
Data on dependent measures were collected through the scenario-based online experimental approach and assessed using MANOVA analysis.
Findings
Results confirm the significance of norms by indicating the critical role of norm belief on consumer responses. Also, increasing the salience of norms by priming them usually intensifies negative behaviour, and pre-existing trust in the retailer serves as an imperfect cushion against consumer negative reactions to norm violation, but this effect is observed to be decreasing with increase in prior trust.
Research limitations/implications
Further research should consider the contextual (time, place, media) influences and assumptions to increase the generalizability of the findings.
Originality/value
To the best of the authors’ knowledge, this is the first paper to explicitly examine the effects of social-norm compliance by sellers on consumer behaviour in the context of PWYW pricing.
Details
Keywords
The purpose of this paper is to explore the routine, everyday experiences and attitudes people bring to cooking and eating and aims to compare the significance of such culinary…
Abstract
Purpose
The purpose of this paper is to explore the routine, everyday experiences and attitudes people bring to cooking and eating and aims to compare the significance of such culinary cultures to diets in France and Britain.
Design/methodology/approach
The initial phase of this qualitative, comparative research involved in-depth interviews with 13 French and 14 British citizens who were each asked to reflect upon foods eaten in the home, preparation methods and issues surrounding dietary practices and culinary cultures. The next phase of the research asked “experts” working within the field to reflect and elaborate upon the initial findings and in total ten French and nine British “experts” were interviewed.
Findings
The results reveal how to a greater extent French respondents relied upon raw ingredients from which they more regularly prepared “traditional”, structured and commensal meal occasions. Such a food model remains a significant part of everyday life and culinary cultures in France support the consumption of a relatively healthy diet unlike in Britain.
Research limitations/implications
This is a small exploratory study based on a limited number of respondents. Further research would benefit from observing what people actually do rather than relying on what people say they do.
Practical implications
Those responsible for promoting healthier diets need to further prioritise the significance of culinary cultures to cooking practices and diet.
Originality/value
While the influence of domestic cooking practices on food intake has received some scholarly attention, this paper presents a more holistic insight into how culinary cultures can play a significant mediating role on diets more generally.
Details