{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,19]],"date-time":"2026-02-19T16:56:43Z","timestamp":1771520203570,"version":"3.50.1"},"reference-count":30,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[2025,1,31]],"date-time":"2025-01-31T00:00:00Z","timestamp":1738281600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2025,3]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>A method is proposed for identifying robot gravity and friction torques based on joint currents. The minimum gravity term parameters are obtained using the Modified Denavit\u2013Hartenberg (MDH) parameters, and the dynamic equations are linearized. The robot\u2019s friction torque is identified using the Stribeck friction model. Additionally, a zero-force drag algorithm is designed to address the issue of excessive start-up torque during dragging. A sinusoidal compensation algorithm is proposed to perform periodic friction compensation for each stationary joint, utilizing the identified maximum static friction torque. Experimental results show that when the robot operates at a uniform low speed, the theoretical current calculated based on the identified gravity and friction fits the actual current well, with a maximum root mean square error within 50 mA, confirming the accuracy of the identification results. The start-up torque compensation algorithm reduces the robot\u2019s start-up torque by an average of <jats:inline-formula><jats:alternatives><jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" mime-subtype=\"png\" xlink:href=\"S0263574724002212_inline1.png\"\/><jats:tex-math>\n$ 60.58\\mathrm{\\%}$\n<\/jats:tex-math><\/jats:alternatives><\/jats:inline-formula>, improving the compliance of the dragging process and demonstrating the effectiveness of the compensation algorithm.<\/jats:p>","DOI":"10.1017\/s0263574724002212","type":"journal-article","created":{"date-parts":[[2025,1,31]],"date-time":"2025-01-31T03:28:52Z","timestamp":1738294132000},"page":"926-944","source":"Crossref","is-referenced-by-count":1,"title":["Zero-force drag and start-up torque compensation strategies for robots"],"prefix":"10.1017","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8481-5183","authenticated-orcid":false,"given":"Chenggang","family":"Li","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lujin","family":"Zhu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gang","family":"Yang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Junxian","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2025,1,31]]},"reference":[{"key":"S0263574724002212_ref24","first-page":"10","article-title":"Research on dynamic parameter identification of robot","author":"Zou","year":"2023","journal-title":"Mod. Mach. Tool Automat. Manufact. Techniq."},{"key":"S0263574724002212_ref26","volume-title":"Research on Drag Teaching Technology of Six-axis Manipulator Based on Current Feedback","author":"Qi","year":"2022"},{"key":"S0263574724002212_ref4","volume-title":"Research on Sensorless Zero-force Control of Collaborative Robots","author":"Wei","year":"2023"},{"key":"S0263574724002212_ref30","doi-asserted-by":"publisher","DOI":"10.1109\/SICE.2016.7749226"},{"key":"S0263574724002212_ref5","volume-title":"Research on Zero-force Control of Collaborative Robots Based on Dynamic Parameters Identification","author":"Fen","year":"2022"},{"key":"S0263574724002212_ref15","first-page":"49","article-title":"An identification method of industrial robot\u2019s dynamic parameters","volume":"43","author":"Ding","year":"2015","journal-title":"J. South China Univ. Technol. (Nat. Sci. 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Sci.)"},{"key":"S0263574724002212_ref2","volume-title":"Research on the Technology of Zero Moment Control and Collision Detection of Collaborative Robot","author":"Chen","year":"2018"},{"key":"S0263574724002212_ref21","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574709990233"},{"key":"S0263574724002212_ref25","first-page":"1429","article-title":"Remote controller assembly strategy based on degrees offreedom constraint and sinusoidal friction compensation","volume":"29","author":"Deng","year":"2023","journal-title":"Comput. Integr. 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