Research on Gravity Compensation Algorithm of Model-free Manipulator Based on L1-norm Convex Optimization

Chenglong Yu; Zhiqi Li; Hong Liu

doi:10.1109/ROBIO.2018.8664862

Research on Gravity Compensation Algorithm of Model-free Manipulator Based on L₁-norm Convex Optimization

Chenglong Yu
, Zhiqi Li^*
, Hong Liu

^*Corresponding author for this work

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

In this paper, a model-free gravity compensation algorithm for manipulators based on L₁-norm convex optimization is proposed. The method does not depend on the structure and parameters of the robotic arm. In contrast, this method optimizes the solution of gravity compensation parameters based on the sampled data. Theoretical analysis shows that the reconstruction of the gravity compensation parameters of the manipulator is realized based on the joint angle and joint torque training data. Experiments show that the gravity compensation results can restore the joint torque of the test set well, which proves the effectiveness of the method.

Original language	English
Title of host publication	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1444-1450
Number of pages	7
ISBN (Electronic)	9781728103761
DOIs	https://doi.org/10.1109/ROBIO.2018.8664862
State	Published - 2 Jul 2018
Event	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 - Kuala Lumpur, Malaysia Duration: 12 Dec 2018 → 15 Dec 2018

Publication series

Name	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

Conference

Conference	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
Country/Territory	Malaysia
City	Kuala Lumpur
Period	12/12/18 → 15/12/18

Access to Document

10.1109/ROBIO.2018.8664862

Cite this

Yu, C., Li, Z., & Liu, H. (2018). Research on Gravity Compensation Algorithm of Model-free Manipulator Based on L₁-norm Convex Optimization. In 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 (pp. 1444-1450). Article 8664862 (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2018.8664862

Yu, Chenglong ; Li, Zhiqi ; Liu, Hong. / Research on Gravity Compensation Algorithm of Model-free Manipulator Based on L₁-norm Convex Optimization. 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 1444-1450 (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018).

@inproceedings{252c4a29db8b494084f9970da95d1e1d,

title = "Research on Gravity Compensation Algorithm of Model-free Manipulator Based on L1-norm Convex Optimization",

abstract = "In this paper, a model-free gravity compensation algorithm for manipulators based on L1-norm convex optimization is proposed. The method does not depend on the structure and parameters of the robotic arm. In contrast, this method optimizes the solution of gravity compensation parameters based on the sampled data. Theoretical analysis shows that the reconstruction of the gravity compensation parameters of the manipulator is realized based on the joint angle and joint torque training data. Experiments show that the gravity compensation results can restore the joint torque of the test set well, which proves the effectiveness of the method.",

author = "Chenglong Yu and Zhiqi Li and Hong Liu",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 ; Conference date: 12-12-2018 Through 15-12-2018",

year = "2018",

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doi = "10.1109/ROBIO.2018.8664862",

language = "英语",

series = "2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018",

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booktitle = "2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018",

address = "美国",

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Yu, C, Li, Z & Liu, H 2018, Research on Gravity Compensation Algorithm of Model-free Manipulator Based on L₁-norm Convex Optimization. in 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018., 8664862, 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Institute of Electrical and Electronics Engineers Inc., pp. 1444-1450, 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Kuala Lumpur, Malaysia, 12/12/18. https://doi.org/10.1109/ROBIO.2018.8664862

Research on Gravity Compensation Algorithm of Model-free Manipulator Based on L₁-norm Convex Optimization. / Yu, Chenglong; Li, Zhiqi; Liu, Hong.
2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 1444-1450 8664862 (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - In this paper, a model-free gravity compensation algorithm for manipulators based on L1-norm convex optimization is proposed. The method does not depend on the structure and parameters of the robotic arm. In contrast, this method optimizes the solution of gravity compensation parameters based on the sampled data. Theoretical analysis shows that the reconstruction of the gravity compensation parameters of the manipulator is realized based on the joint angle and joint torque training data. Experiments show that the gravity compensation results can restore the joint torque of the test set well, which proves the effectiveness of the method.

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Yu C, Li Z, Liu H. Research on Gravity Compensation Algorithm of Model-free Manipulator Based on L₁-norm Convex Optimization. In 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 1444-1450. 8664862. (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018). doi: 10.1109/ROBIO.2018.8664862