Decoupling identification for serial two-link robot arm with elastic joints

Junji Oaki, Shuichi Adachi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

The objective of our study is to build a precise model by applying the technique of system identification for the model-based control of a nonlinear robot arm, taking joint-elasticity into consideration. This paper proposes a systematic identification method, called "decoupling identification", for a serial two-link robot arm with elastic joints caused by the Harmonic drive ® reduction gears. The proposed method serves as an extension of the conventional rigid-jointmodel-based identification. The robot arm is treated as a serial two-link two-inertia system with nonlinearity. The decoupling identification method using link-accelerometer signals enables the serial two-link two-inertia system to be divided into two linear one-link two-inertia systems. The MATLAB®'s commands for state-space model estimation are utilized in the proposed method. Physical parameters such as motor inertias, link inertias, joint-friction coefficients and joint-spring coefficients are estimated through the identified one-link two-inertia systems. Experimental results using a SCARA-type planar two-link robot arm with elastic reduction gears showed an accuracy of the proposed identification method.

Original languageEnglish
Title of host publicationIFAC Proceedings Volumes (IFAC-PapersOnline)
Pages1417-1422
Number of pages6
Volume15
EditionPART 1
DOIs
Publication statusPublished - 2009
Event15th IFAC Symposium on System Identification, SYSID 2009 - Saint-Malo, France
Duration: 2009 Jul 62009 Jul 8

Other

Other15th IFAC Symposium on System Identification, SYSID 2009
CountryFrance
CitySaint-Malo
Period09/7/609/7/8

Fingerprint

Robots
Gears
Accelerometers
MATLAB
Elasticity
Identification (control systems)
Friction

Keywords

  • Closed-loop identification
  • Frequency response
  • MATLAB
  • Mechanical resonance
  • Multivariable systems
  • Nonlinear optimization
  • Nonlinear systems
  • Robot arms

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Oaki, J., & Adachi, S. (2009). Decoupling identification for serial two-link robot arm with elastic joints. In IFAC Proceedings Volumes (IFAC-PapersOnline) (PART 1 ed., Vol. 15, pp. 1417-1422) https://doi.org/10.3182/20090706-3-FR-2004.0344

Decoupling identification for serial two-link robot arm with elastic joints. / Oaki, Junji; Adachi, Shuichi.

IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 15 PART 1. ed. 2009. p. 1417-1422.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Oaki, J & Adachi, S 2009, Decoupling identification for serial two-link robot arm with elastic joints. in IFAC Proceedings Volumes (IFAC-PapersOnline). PART 1 edn, vol. 15, pp. 1417-1422, 15th IFAC Symposium on System Identification, SYSID 2009, Saint-Malo, France, 09/7/6. https://doi.org/10.3182/20090706-3-FR-2004.0344
Oaki J, Adachi S. Decoupling identification for serial two-link robot arm with elastic joints. In IFAC Proceedings Volumes (IFAC-PapersOnline). PART 1 ed. Vol. 15. 2009. p. 1417-1422 https://doi.org/10.3182/20090706-3-FR-2004.0344
Oaki, Junji ; Adachi, Shuichi. / Decoupling identification for serial two-link robot arm with elastic joints. IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 15 PART 1. ed. 2009. pp. 1417-1422
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