---
# System prepended metadata

title: 碩班文獻整理
tags: [Papar]

---

---
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

:::