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

Masayoshi Iwatani, Ryo Kikuuwe

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトル2015 10th Asian Control Conference
ホスト出版物のサブタイトルEmerging Control Techniques for a Sustainable World, ASCC 2015
編集者Hazlina Selamat, Hafiz Rashidi Haruna Ramli, Ahmad Athif Mohd Faudzi, Ribhan Zafira Abdul Rahman, Asnor Juraiza Ishak, Azura Che Soh, Siti Anom Ahmad
出版社Institute of Electrical and Electronics Engineers Inc.
ISBN(電子版)9781479978625
DOI
出版ステータス出版済み - 9 8 2015
イベント10th Asian Control Conference, ASCC 2015 - Kota Kinabalu, マレーシア
継続期間: 5 31 20156 3 2015

その他

その他10th Asian Control Conference, ASCC 2015
国/地域マレーシア
CityKota Kinabalu
Period5/31/156/3/15

All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学

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