Decoupling Identification for Serial Two-link Robot Arm with Elastic Joints

Oaki, Junji; Adachi, Shuichi

doi:10.3182/20090706-3-fr-2004.00236

Cited by 9 publications

(10 citation statements)

References 5 publications

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“…If inertia parameters of the payload are unknown, the terminal-link parameter estimation method [9] is applicable. Furthermore, for aging variation of the robot arm mechanism, fine tuning of the friction and spring coefficient parameters can be occasionally performed using closed-loop simulations with the nonlinear least-squares optimization [6] [7]. Fig.…”

Section: Target Systemmentioning

confidence: 99%

“…As far as we know, e.g. [10]- [17], the seven physical parameters for each joint can be separately estimated by only our method [6] [7], considering coupled vibration between the two links. Fig.…”

Section: Target Systemmentioning

confidence: 99%

“…An accelerometer for measuring the link translational acceleration is attached to each link; angular acceleration of each link is computed by the coordinate transformation. Angular velocity of each link is computed by a complementary filter using the difference of the motorencoder signal with a low-pass filter and the integration of the angular acceleration signal with a high-pass filter [6]. Angular position of each link can be computed in the same way.…”

Section: Target Systemmentioning

confidence: 99%

“…Naturally, the capability of this simple observer depends on the identification accuracy of the elastic-joint model. However, the physical parameters of this model can be accurately estimated using the "decoupling identification method" already proposed by the authors [6] [7] for the serial two-link robot arm.…”

Section: Introductionmentioning

confidence: 99%

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Vibration-suppression and fast-positioning control of elastic-joint robot arm utilizing nonlinear-model-based phase-lead compensator

Oaki

Adachi

2015

2015 IEEE Conference on Control Applications (CCA)

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This paper provides a practical solution for precise and fast control of an elastic-joint robot arm using motor-side sensors only. We previously proposed a torsion-angular velocity feedback (TVFB) scheme for vibration-suppression control. The scheme utilizes an uncomplicated nonlinear observer based on a physically-parameterized dynamic model of the elastic-joint robot arm. The TVFB can be easily plugged into existing joint servos like PI velocity controllers. Using the elastic-joint robot arm, this paper experimentally demonstrates that the TVFB is equivalent to a nonlinear-model-based phase-lead compensator. Furthermore, several experiments are conducted to validate that the TVFB scheme has the capability to satisfy both vibrationsuppression and fast-positioning control.

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Section: Target Systemmentioning

confidence: 99%

Section: Target Systemmentioning

confidence: 99%

Section: Target Systemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Vibration-suppression and fast-positioning control of elastic-joint robot arm utilizing nonlinear-model-based phase-lead compensator

Oaki

Adachi

2015

2015 IEEE Conference on Control Applications (CCA)

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“…Nevertheless, few studies investigate the inertial parameters identification using the subspace method. Applying the subspace identification technique, the physical parameters of a nonlinear robot arm, such as the motor inertias, link inertias and joint-spring coefficients, were estimated by Oaki [6]. Crosnier [7] identify the physical parameters from the corrupted data when a sufficiently enlarged state-space model was reached.…”

Section: Introductionmentioning

confidence: 99%

On-orbit identification of time-varying moment of inertia for spacecraft based on a recursive subspace method

Liu

et al. 2017

2017 36th Chinese Control Conference (CCC)

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Abstract:In this paper, a novel recursive method to identify the moment of inertia parameters of on-orbit spacecraft is proposed. Different from the frequently-used momentum conservation and least squares approach, the presented method is implemented based on the Projection Approximation Subspace Tracking (PAST), and the moment of inertia parameters can be determined recursively from the system state-space model by coordinate transformation. For a spacecraft with flexible appendages, three on-orbit cases that may cause the moment of inertia parameters to vary with time are investigated. In numerical simulations, comparing with the classical subspace method based on the singular value decomposition (SVD), the results illustrate that the proposed recursive algorithm can identify the time-varying moment of inertia parameters effectively. Moreover, the computational efficiency is also higher than that of the SVD-based method without the decomposition of the Hankel matrix.

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Plug-in feedback using physically parameterized observer for vibration-suppression control of elastic-joint robot

Oaki

Adachi

2014

2014 European Control Conference (ECC)

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Decoupling Identification for Serial Two-link Robot Arm with Elastic Joints

Cited by 9 publications

References 5 publications

Vibration-suppression and fast-positioning control of elastic-joint robot arm utilizing nonlinear-model-based phase-lead compensator

Vibration-suppression and fast-positioning control of elastic-joint robot arm utilizing nonlinear-model-based phase-lead compensator

On-orbit identification of time-varying moment of inertia for spacecraft based on a recursive subspace method

Plug-in feedback using physically parameterized observer for vibration-suppression control of elastic-joint robot

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