Joint Parameters Identification of Flexible Joint Robot under Movement
ZHUANG Wei;LIU Xiao-ping
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School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876,China
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History+
Received
Revised
Published
2009-02-04
2009-04-20
2010-04-25
Issue Date
2010-04-25
Abstract
A new approach to identify joint parameters of the flexible joint robot under movement was presented. Firstly, taking a flexible joint as an elastic twist axis, and combining wave theory of structures with rotated transform matrix of joint, wave equations of mechanism were established. Secondly, considering general force balance and displacement boundary of each joint, environmental prediction model of system in moving states was deduced. Furthermore, vibration equations were gained according to the predicted actuators and vibration angles. Thirdly, joint dynamic stiffness and damping were deduced after solving the former model by use of least square method (LSM). Finally, parameters identification experiments of a 3-DOF manipulator were done under two different trajectories. The experimental result shows that the approach is effective and it can provide the reference to the further dynamic control.
ZHUANG Wei;LIU Xiao-ping.
Joint Parameters Identification of Flexible Joint Robot under Movement[J]. Journal of Vibration and Shock, 2010, 29(4): 17-21,3
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