Decoupling identification for serial two-link two-inertia system -Accuracy evaluation under introducing closed-loop-controlled elements and varying amplitude-setup of identification-input

Junji Oaki, Shuichi Adachi

研究成果: Article査読

3 被引用数 (Scopus)

抄録

The purpose of our study is to develop a precise model by applying the technique of system identification for the model-based control of a nonlinear robot arm, under taking joint-elasticity into consideration. We previously proposed a systematic identification method, called "decoupling identification," for a "SCARA-type" planar 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-joint-model- 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®commands for statespace 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 using a gray-box approach. This paper describes accuracy evaluations using the two-link arm for the decoupling identification method under introducing closed-loop-controlled elements and varying amplitude-setup of identification-input. Experimental results show that the identification method also works with closed-loop-controlled elements. Therefore, the identification method is applicable to a "PUMA-type" vertical robot arm under gravity.

本文言語English
ページ(範囲)1169-1177+5
ジャーナルieej transactions on industry applications
129
12
DOI
出版ステータスPublished - 2009 12 1

ASJC Scopus subject areas

  • 産業および生産工学
  • 電子工学および電気工学

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