Parameter estimation of flexible robot using multi-encoder based on disturbance observer

Chowarit Mitsantisuk, Manuel Nandayapa, Kiyoshi Ohishi, Seiichiro Katsura

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

5 Citations (Scopus)

Abstract

Generally, the flexible robot system can be modeled as the two-mass system which consists of a motor and load connected by a spring coefficient. In order to achieve accurate tracking objectives, the correct of parameter identification in the model based controller is necessary. The objective of this paper is the parameter identification of a spring coefficient of flexible robot system. The multi-encoder based disturbance observer (MEDOB) and load side disturbance observer (LDOB) are employed to identify a correct spring coefficient parameter of flexible robot system. The comparison of external force estimation between MEDOB and LDOB is used to find the correct value of spring coefficient. By using the proposed identification method, it is simple to identify the spring coefficient and easy to implement in the real flexible robot system. The effectiveness of the proposed identification method is verified by simulation and experimental results.

Original languageEnglish
Title of host publicationProceedings, IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society
Pages4424-4429
Number of pages6
DOIs
Publication statusPublished - 2012 Dec 1
Event38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012 - Montreal, QC, Canada
Duration: 2012 Oct 252012 Oct 28

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012
CountryCanada
CityMontreal, QC
Period12/10/2512/10/28

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Mitsantisuk, C., Nandayapa, M., Ohishi, K., & Katsura, S. (2012). Parameter estimation of flexible robot using multi-encoder based on disturbance observer. In Proceedings, IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society (pp. 4424-4429). [6389473] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2012.6389473