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

Chowarit Mitsantisuk, Manuel Nandayapa, Kiyoshi Ohishi, Seiichiro Katsura

研究成果: Conference contribution

9 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings, IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society
ページ4424-4429
ページ数6
DOI
出版ステータスPublished - 2012
イベント38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012 - Montreal, QC, Canada
継続期間: 2012 10 252012 10 28

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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