Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
716447 | IFAC Proceedings Volumes | 2012 | 6 Pages |
Abstract
This paper proposes a control-oriented modeling and identification framework for flexible-joint robot arms using motor-side measurements only. From the perspective of model-based control strategies including an inner feedback linearization loop, the proposed method allows an explicit treatment of the vibrational behavior induced by the flexibilities. A theoretical model of the partially decoupled system is derived and a frequency-domain identification procedure allowing an estimation of the flexible parameters is detailed. The obtained description of the system is experimentally validated on the CEA lightweight robot arm ASSIST.
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