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

Junji Oaki, Shuichi Adachi

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

8 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 publication15th Symposium on System Identification, SYSID 2009 - Preprints
Pages1417-1422
Number of pages6
EditionPART 1
DOIs
Publication statusPublished - 2009 Dec 1
Event15th IFAC Symposium on System Identification, SYSID 2009 - Saint-Malo, France
Duration: 2009 Jul 62009 Jul 8

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
Volume15
ISSN (Print)1474-6670

Other

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

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

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  • Cite this

    Oaki, J., & Adachi, S. (2009). Decoupling identification for serial two-link robot arm with elastic joints. In 15th Symposium on System Identification, SYSID 2009 - Preprints (PART 1 ed., pp. 1417-1422). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 15, No. PART 1). https://doi.org/10.3182/20090706-3-FR-2004.0344