Grey-box modeling of elastic-joint robot with harmonic drive and timing belt

Junji Oaki, Shuichi Adachi

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

4 Citations (Scopus)

Abstract

We previously proposed a multivariable identification method, called the "decoupling identification method", for a horizontal two-link robot arm with elastic harmonic drive gears. This paper extends the identification method to a vertical two-link robot arm with the harmonic drive gears and timing belts, under gravity. The mechanical resonance effects of the timing belts in the high-frequency range are decimated in advance, to apply the decoupling method. The characteristics of the timing belts are independently estimated as perturbations in the high-frequency range for robust controller design. The effectiveness of the extended identification method was experimentally verified using the vertical two-link robot with the elastic elements.

Original languageEnglish
Title of host publicationSYSID 2012 - 16th IFAC Symposium on System Identification, Final Program
Pages1401-1406
Number of pages6
EditionPART 1
DOIs
Publication statusPublished - 2012 Oct 9
EventUniversite Libre de Bruxelles - Bruxelles, Belgium
Duration: 2012 Jul 112012 Jul 13

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
Volume16
ISSN (Print)1474-6670

Other

OtherUniversite Libre de Bruxelles
CountryBelgium
CityBruxelles
Period12/7/1112/7/13

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Keywords

  • Decimation
  • Frequency response
  • Grey-box modeling
  • Mechanical resonance
  • Multivariable systems
  • Nonlinear systems
  • Perturbation
  • Robot arms
  • Two-inertia systems

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Oaki, J., & Adachi, S. (2012). Grey-box modeling of elastic-joint robot with harmonic drive and timing belt. In SYSID 2012 - 16th IFAC Symposium on System Identification, Final Program (PART 1 ed., pp. 1401-1406). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 16, No. PART 1). https://doi.org/10.3182/20120711-3-BE-2027.00168