碩班文獻整理

--- tags: Papar, title: 碩班文獻整理 --- {%hackmd g0hFIUWzRoe_OixYbWVcYA %} # 碩班文獻整理 ## Thesis: <br>Modeling, Identification, Control on Flexible Joint Robot Manipulator ### 1. Modeling #### <span class="purple">BioRob Robot</span> :::spoiler {state="close"} + [Design and Dynamics Model of a Lightweight Series Elastic Tendon-Driven Robot Arm, 2013](https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6631218) + [Dynamic Modeling of Elastic Tendon Actuators with Tendon Slackening, 2012](https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6651608) + [Investigation of Safety in Human-Robot-Interaction for a Series Elastic, Tendon-Driven Robot Arm, 2012](https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6386236) + [Physical Human-Robot Interaction with a Lightweight, Elastic Tendon Driven Robotic Arm Modeling, Control, and Safety Analysis, 2013](https://d-nb.info/1107769965/34) + 作者: Oskar von Stryk + 線+彈簧的機械手臂 + Keywords: Flexible Joint, BioRob ::: #### <span class="purple">歐盟計畫</span> :::spoiler {state="close"} + [Towards accurate robot modelling of flexible robotic manipulators, 2020](https://reader.elsevier.com/reader/sd/pii/S2212827120314979?token=5E9CC16F1B557FE0883008D5963E5952CCDAA43F5262BA2B052300517BFF9749E827611B3797ADCAD573886FE79C815D&originRegion=us-east-1&originCreation=20220625094129) + [Methodology for enabling Digital Twin using advanced physics-based modelling in predictive maintenance, 2019](https://reader.elsevier.com/reader/sd/pii/S2212827119303774?token=C342005AB5FD32CC6B0FCC476625A88172CC6B851571D6CDC3AC242E3B62F5CCCD9BD764155E3730BA281A5729B7B8F9&originRegion=us-east-1&originCreation=20220625094334) + [Framework for accurate simulation and model-based control of hybrid manufacturing processes, 2021](https://www.sciencedirect.com/science/article/pii/S221282712031492X) + [An approach for implementing power and force limiting in sensorless industrial robots, 2018](https://www.sciencedirect.com/science/article/pii/S2212827118300428) + [Identification of dynamic robot’s parameters using physics-based simulation models for improving accuracy, 2021](https://reader.elsevier.com/reader/sd/pii/S2212827121001116?token=726EE889DC032A932D922915D72E67D14900EACC62F41EED573B00B1B47E7329EA4A4161C852F21C55B795EA0172FD45&originRegion=us-east-1&originCreation=20220625095554) + 歐盟計畫 + Keywords: Flexible Joint, Physics-based models ::: #### <span class="purple">減速機</span> :::spoiler {state="close"} + [Harmonic Drive Catalog](https://www.harmonicdrive.net/_hd/content/documents1/csf-gh-catalog.pdf) + [Modeling of Transmission Compliance and HysteresisConsidering Degradation in a Harmonic Drive](https://click.endnote.com/viewer?doi=10.3390%2Fapp11020665&token=WzI3NzMzODAsIjEwLjMzOTAvYXBwMTEwMjA2NjUiXQ.EI9x4lVqES1cd9j-DUtg2wN4rCk) + 單軸諧波減速機建模 + Kerwords: transmission compliance; hysteresis degradation; interference; multi-tooth ::: #### <span class="purple">Moberg</span> :::spoiler {state="open"} [Modeling and Parameter Estimation of Robot Manipulators Using Extended Flexible Joint Models](https://asmedigitalcollection.asme.org/dynamicsystems/article/136/3/031005/473903/Modeling-and-Parameter-Estimation-of-Robot) ::: ### 2. Identification #### Rigid Robot Identification ::: spoiler {state = "open"} [Parameter identification for industrial robots with a fast and robust trajectory design approach](https://www.sciencedirect.com/science/article/pii/S0736584514000441) + Least Square, Trajectory Optimization + ::: ### 3. Control #### SMC :::spoiler {state="open"} ::: --- ### 4. Observer ### 5. Extend Subject #### Flexible Joint & Flexible Link :::spoiler {state="open"} [Dynamics and Control of a Flexible‑Link Flexible‑Joint Space Robot with Joint Friction](https://sci-hub.mksa.top/10.1007/s42405-020-00294-3) + ADAMS [A two-stage calibration method for industrial robots withjoint and drive flexibilities](https://click.endnote.com/viewer?doi=10.5194/ms-6-191-2015&route=7) + Linearized motion of FLFJ robot + 最小化多姿態之頻率響應函數誤差，透過GA最小化cost function，以線性化模型推導出轉移函數，包含對科勢力對轉速偏微分。 [Identification of flexibility parameters of 6-axis industrial manipulator models](https://www.researchgate.net/publication/229018226_Identification_of_flexibility_parameters_of_6-axis_industrial_manipulator_models) + 最小化頻域響應誤差，6 axis -> 6 axis 之間的頻域誤差。 ::: --- ## Paper Survey ### :::spoiler {state="close"} <span class="purple">Path planning</span> <DIV style="text-align:center"> <span class="red"> ⨯--------- FeedRate Scheduling ---------⨯ </span> </DIV> [Feedrate scheduling of a five-axis hybrid robot for milling considering drive constraints, 2021](https://click.endnote.com/viewer?doi=10.1007%2Fs00170-020-06559-1&token=WzI3NzMzODAsIjEwLjEwMDcvczAwMTcwLTAyMC0wNjU1OS0xIl0.zkK5exvLamKNKzUeK-EoP-NWS1M) + **Demo** + 迭代式的考慮限制條件 + 五軸加工機 + Keywords: NI, ND Constraint, B-Spline, Feedrate planning [The feedrate scheduling of parametric interpolator with geometry, process and drive constraints for multi-axis CNC machine tools, 2014](https://click.endnote.com/viewer?doi=10.1016%2Fj.ijmachtools.2014.05.001&token=WzI3NzMzODAsIjEwLjEwMTYvai5pam1hY2h0b29scy4yMDE0LjA1LjAwMSJd.-XJFgthK3XuKIHdd-9jHni9ebIw) + 限制條件推導，迭代式的對FeedRate進行調整 + Keywords: Interpolator, Feedrate scheduling [Smooth trajectory generation for five-axis machine tools, 2013](https://reader.elsevier.com/reader/sd/pii/S0890695513000540?token=27D16637E152DEB945398096E295B776C67C9438DD0D48360A0B1AC74AB761F6A98CEAEA47A66DA554FCE55449D8364A&originRegion=us-east-1&originCreation=20220625062430) + 限制條件推導 + Keywords: Splined tool path <DIV style="text-align:center"> <span class="red"> ⨯------------- Scurve -------------⨯ </span> </DIV> [An approach for jerk-continuous trajectory generation of robotic manipulators with kinematical constraints, 2020](https://click.endnote.com/viewer?doi=10.1016/j.mechmachtheory.2020.103957&route=7) + 以 sine 為基底，建構在 jerk 連續的 Scurve + Keywords: Sine-Scurve [Third-order trajectory planning for high accuracy point-to-point motion, 2009](https://sci-hub.mksa.top/10.1007/s11460-009-0017-y) + 基礎 3 階SCurve + Keywords: Scurve [] <DIV style="text-align:center"> <span class="red"> ⨯------------- NURBS -------------⨯ </span> </DIV> [Design of NURBS Curve Fitting Process on CNC Machines, 2007](https://sci-hub.mksa.top/10.1007/s11460-009-0017-y) + **Demo** + NURBS Curve Fitting + Keywords: NURBS <DIV style="text-align:center"> <span class="red"> ⨯--------------- ILC ---------------⨯ </span> </DIV> [Industrial robot accurate trajectory generation by nested loop iterative learning control, 2021](https://www.sciencedirect.com/science/article/pii/S0957415821000039) + 槽狀的ILC + Keywords: ILC ::: ### :::spoiler {state="close"} <span class="purple">Plane Detection</span> [Robust Plane Detection Using Depth Information From a Consumer Depth Camera, 2017](https://www.researchgate.net/publication/321636154_Robust_Plane_Detection_Using_Depth_Information_From_a_Consumer_Depth_Camera) + [Github](https://github.com/jzrita/DPD-Project) + 深度相機的平面偵測 + Keywords: Plane Detection [Deep neural network for traffic sign recognition systems: An analysis of spatial transformers and stochastic optimisation methods, 2018](https://www.researchgate.net/publication/322839466_Deep_neural_network_for_traffic_sign_recognition_systems_An_analysis_of_spatial_transformers_and_stochastic_optimisation_methods) + [**Github**](https://github.com/wolfapple/traffic-sign-recognition) + Keywords: GTSRB, Spatial Transformer Network ::: ### :::spoiler {state="close"} <span class="purple">Identification</span> [PARAMETER IDENTIFICATION FOR LUGRE FRICTION MODEL USINGGENETIC ALGORITHMS, 2006](https://click.endnote.com/viewer?doi=10.1109/ICMLC.2006.258506&route=6) + **Demo** + Keywords: LuGre Friction Model Identification :::