An identification procedure for rate-dependent friction laws of robotic manipulator with limited motion range

Masayoshi Iwatani, Ryo Kikuuwe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper proposes an identification procedure for rate-dependent friction of robotic manipulators of which the motion is limited due to the configuration or the environment. The procedure is characterized by following three features: (i) the function for the curve fitting is defined by linear interpolation and extrapolation of sampled velocity-force pair points, (ii) each joint is controlled by high gain PID position controller of some cycles of sinusoidal desired trajectory with different frequencies, and (iii) the velocity-force pairs are obtained from each cycle with subtracting the effect of the gravity and the inertia. The procedure was validated with an industrial robotic manipulator YASKAWA MOTOMAN-HP3J, which has six harmonic-drive joints of the reduction ratios of 81.5 to 224. The experimental results show that the procedure has achieved a sufficient accuracy with the 20 degrees of motion of each joint.

Original languageEnglish
Title of host publication2015 10th Asian Control Conference
Subtitle of host publicationEmerging Control Techniques for a Sustainable World, ASCC 2015
EditorsHazlina Selamat, Hafiz Rashidi Haruna Ramli, Ahmad Athif Mohd Faudzi, Ribhan Zafira Abdul Rahman, Asnor Juraiza Ishak, Azura Che Soh, Siti Anom Ahmad
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781479978625
DOIs
Publication statusPublished - Sep 8 2015
Event10th Asian Control Conference, ASCC 2015 - Kota Kinabalu, Malaysia
Duration: May 31 2015Jun 3 2015

Other

Other10th Asian Control Conference, ASCC 2015
CountryMalaysia
CityKota Kinabalu
Period5/31/156/3/15

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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