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

Junji Oaki, Shuichi Adachi

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルSYSID 2012 - 16th IFAC Symposium on System Identification, Final Program
出版社IFAC Secretariat
ページ1401-1406
ページ数6
PART 1
ISBN(印刷版)9783902823069
DOI
出版ステータスPublished - 2012
イベントUniversite Libre de Bruxelles - Bruxelles, Belgium
継続期間: 2012 7 112012 7 13

出版物シリーズ

名前IFAC Proceedings Volumes (IFAC-PapersOnline)
番号PART 1
16
ISSN(印刷版)1474-6670

Other

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

ASJC Scopus subject areas

  • Control and Systems Engineering

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