Jiqian Xu — accepted AI-conference papers

2024

One-Step Identification of Robot Physical Dynamic Parameters Considering the Velocity-Load Friction Model

Yian Qian, Lijin Fang, Jiqian Xu, Tangzhong Song, Guanghui Liu

RA-L 2024

We propose a robot dynamic model to improve the accuracy of the identification, by introducing a friction model that takes into account the joint loads. Firstly, we analyze torque transfer in robot joints, assigning a physical meaning to motor inertia parameters. Then, we enhance the traditional fri

Cited by 8 Source ↗Scholar ↗

2023

A Robotic Manipulator Using Dual-Motor Joints: Prototype Design and Anti-Backlash Control

Jiqian Xu, Huaizhen Wang, Qiankun Zhao, Yue Gao, Yingcai Wan, Lijin Fang

RA-L 2023

This letter focuses on the design and control of a novel seven-degree-of-freedom (7-DOF) robotic manipulator (D-Arm) to address the issue of backlash nonlinearity coupling unknown disturbance through the dual-motor anti-backlash control technology. Specifically, the first three axes of the D-Arm nea

Cited by 7 Source ↗Scholar ↗