The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Oct. 31, 2023
Filed:
Jul. 07, 2023
East China Jiaotong University, Jiangxi, CN;
Chongqing University, Chongqing, CN;
Ruqi Ding, Nanchang, CN;
Feng Li, Nanchang, CN;
Min Cheng, Chongqing, CN;
Gang Li, Nanchang, CN;
Xueshan Mu, Nanchang, CN;
Guoliang Hu, Nanchang, CN;
EAST CHINA JIAOTONG UNIVERSITY, Nanchang, CN;
CHONGQING UNIVERSITY, Chongqing, CN;
Abstract
The embodiments of the present disclosure provide a terminal force soft-sensing method of a hydraulic manipulator. The method includes: establishing a dynamic model of the hydraulic manipulator, performing linearization processing on the dynamic model, and establishing a minimum inertial parameter set of the hydraulic manipulator and a linear model of a regression matrix corresponding to the minimum inertial parameter set; generating an excitation trajectory by solving a finite Fourier series coefficient; determining a hydraulic driving torque by collected values of pressure sensors of two chambers of hydraulic cylinders when controlling the hydraulic manipulator to operate the excitation trajectory under a no-load condition; determining a total regression matrix by bringing joint angles, joint angular velocities, and joint angular accelerations at each moment into the regression matrix; and determining dynamic parameters of the hydraulic manipulator based on the hydraulic driving torque and the regression matrix.