作者: Toon Hardeman , Ronald Aarts , Ben Jonker
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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.