Modelling and Identification of Robots with Joint and Drive Flexibilities

作者: Toon Hardeman , Ronald Aarts , Ben Jonker

DOI: 10.1007/1-4020-4161-6_15

关键词:

摘要: This paper deals with modelling and identification of flexible-joint robot models that can be used for dynamic simulation model based control industrial robots. A nonlinear finite element method is to derive the equations motion in a form suitable both identification. The latter requires are linear parameters. For accurate simulations tip should describe relevant properties such as joint friction flexibilities. Both drive flexibilities included model. Joint described by means static model, including Coulomb viscous components. parameters describing mass, inertia, stiffness, damping obtained from least squares solution an over determined system assembled closed loop experiments. In experiment moves along prescribed trajectory while all angles, flexible deformations driving torques recorded. order excite vibrations during feed forward at frequencies above bandwidth superposed on torques. applicability demonstrated numerical study four link robot.

参考文章(13)
C. J. Tsaprounis, N. A. Aspragathos, Adaptive Tracking Controller for Rigid-Link Elastic-Joint Robots with Link Acceleration Estimation Journal of Intelligent and Robotic Systems. ,vol. 27, pp. 67- 83 ,(2000) , 10.1023/A:1008198029642
Jeng Tze Huang, A New Approach to Parametric Identification of a Single-Link Flexible-Joint Manipulator Journal of Intelligent and Robotic Systems. ,vol. 37, pp. 273- 284 ,(2003) , 10.1023/A:1025435418131
T. Yoshikawa, A. Ohta, K. Kanaoka, State estimation and parameter identification of flexible manipulators based on visual sensor and virtual joint model international conference on robotics and automation. ,vol. 3, pp. 2840- 2845 ,(2001) , 10.1109/ROBOT.2001.933052
Ben Jonker, A Finite Element Dynamic Analysis of Flexible Manipulators The International Journal of Robotics Research. ,vol. 9, pp. 59- 74 ,(1990) , 10.1177/027836499000900404
M. W. Spong, Modeling and Control of Elastic Joint Robots Journal of Dynamic Systems Measurement and Control-transactions of The Asme. ,vol. 109, pp. 310- 319 ,(1987) , 10.1115/1.3143860
T Hardeman, Ronald GKM Aarts, Jan B Jonker, None, A finite element formulation for dynamic parameter identification of robot manipulators Multibody System Dynamics. ,vol. 16, pp. 21- 35 ,(2006) , 10.1007/S11044-006-9010-X
Charles L. Lawson, Richard J. Hanson, Solving Least Squares Problems ,(1974)
Ishtiaq Rasool Khan, Ryoji Ohba, Taylor series based finite difference approximations of higher-degree derivatives Journal of Computational and Applied Mathematics. ,vol. 154, pp. 115- 124 ,(2003) , 10.1016/S0377-0427(02)00816-6
M.T. Pham, M. Gautier, P. Poignet, Identification of joint stiffness with bandpass filtering international conference on robotics and automation. ,vol. 3, pp. 2867- 2872 ,(2001) , 10.1109/ROBOT.2001.933056
M.T. Pham, M. Gautier, Ph. Poignet, Accelerometer based identification of mechanical systems international conference on robotics and automation. ,vol. 4, pp. 4293- 4298 ,(2002) , 10.1109/ROBOT.2002.1014433