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

Junji Oaki, Shuichi Adachi

研究成果: Conference contribution

9 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル15th Symposium on System Identification, SYSID 2009 - Preprints
ページ1417-1422
ページ数6
PART 1
DOI
出版ステータスPublished - 2009
イベント15th IFAC Symposium on System Identification, SYSID 2009 - Saint-Malo, France
継続期間: 2009 7月 62009 7月 8

出版物シリーズ

名前IFAC Proceedings Volumes (IFAC-PapersOnline)
番号PART 1
15
ISSN(印刷版)1474-6670

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学

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