Modeling and Parameter Estimation of Robot Manipulators using Extended Flexible Joint Models
2014 (English)In: Journal of Dynamic Systems Measurement, and Control, ISSN 0022-0434, Vol. 136, no 3, 031005- p.Article in journal (Refereed) Published
This paper considers the problem of dynamic modeling and identification of robot manipulators with respect to their elasticities. The so-called flexible joint model, modeling only the torsional gearbox elasticity, is shown to be insufficient for modeling a modern industrial manipulator accurately. The extended flexible joint model, where non-actuated joints are added to model the elasticity of the links and bearings, is used to improve the model accuracy. The unknown elasticity parameters are estimated using a frequency domain gray-box identification method. The conclusion is that the obtained model describes the movements of the motors and the tool mounted on the robot with significantly higher accuracy. Similar elasticity model parameters are obtained when using two different output variables for the identification, the motor position and the tool acceleration.
Place, publisher, year, edition, pages
2014. Vol. 136, no 3, 031005- p.
Modeling, flexible arms, calibration and identification, motion control, robot manipulator.
IdentifiersURN: urn:nbn:se:liu:diva-61667DOI: 10.1115/1.4026300ISI: 000333588100005OAI: oai:DiVA.org:liu-61667DiVA: diva2:370692