TY - JOUR
T1 - Vibration suppression control of a serial two-link two-inertia system based on physical-parameter estimation
AU - Oaki, Junji
AU - Adachi, Shuichi
PY - 2013/2/4
Y1 - 2013/2/4
N2 - The purpose of our study is to achieve the dynamic model-based control of a nonlinear robot arm, while taking jointelasticity into consideration. We previously proposed a multi-input multi-output system identification method, called the decoupling identification method, for a planar two-link robot arm with elastic-joints due to the Harmonic-drive reduction gears. The robot arm is treated herein as a serial two-link two-inertia system with nonlinearity. Physical parameters such as motor inertias, link inertias, joint-friction coefficients, and joint-spring coefficients of the robot dynamic model are accurately estimated by the decoupling identification method. This paper describes a simple method for achieving the vibration suppression control of a serial two-link two-inertia system based on physical-parameter estimation. We propose a torsional angular velocity feedback scheme, which can be "plugged-in" to an existing PI velocity controller, using a nonlinear state observer based on the accurately estimated dynamic model. In addition, we propose a gain-scheduling control scheme that involves switching inertia parameters to compensate for payload variation. Through several experiments, we demonstrate the effectiveness of the proposed control method by using the elastic-joint robot arm.
AB - The purpose of our study is to achieve the dynamic model-based control of a nonlinear robot arm, while taking jointelasticity into consideration. We previously proposed a multi-input multi-output system identification method, called the decoupling identification method, for a planar two-link robot arm with elastic-joints due to the Harmonic-drive reduction gears. The robot arm is treated herein as a serial two-link two-inertia system with nonlinearity. Physical parameters such as motor inertias, link inertias, joint-friction coefficients, and joint-spring coefficients of the robot dynamic model are accurately estimated by the decoupling identification method. This paper describes a simple method for achieving the vibration suppression control of a serial two-link two-inertia system based on physical-parameter estimation. We propose a torsional angular velocity feedback scheme, which can be "plugged-in" to an existing PI velocity controller, using a nonlinear state observer based on the accurately estimated dynamic model. In addition, we propose a gain-scheduling control scheme that involves switching inertia parameters to compensate for payload variation. Through several experiments, we demonstrate the effectiveness of the proposed control method by using the elastic-joint robot arm.
KW - Gain-scheduling control
KW - Multi-input multi-output system identification
KW - Nonlinear observer
KW - Torsional angular velocity feedback
KW - Two-degree-of-freedom PI controller
KW - Two-inertia system
UR - http://www.scopus.com/inward/record.url?scp=84873832168&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84873832168&partnerID=8YFLogxK
U2 - 10.1541/ieejias.133.94
DO - 10.1541/ieejias.133.94
M3 - Article
AN - SCOPUS:84873832168
VL - 133
SP - 94
EP - 104
JO - IEEJ Transactions on Industry Applications
JF - IEEJ Transactions on Industry Applications
SN - 0913-6339
IS - 1
ER -