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1 – 10 of 12Pieter A. Gautier, Gerard J. van den Berg, Jan C. van Ours and Geert Ridder
Stephen G. Bronars, Melissa Famulari, Paul Bingley and Niels Westergard-Nielsen
Jian-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.
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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.
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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.
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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.
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