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Modeling and identification of elastic robot joints with hysteresis and backlash / Ruderman, Michael in IEEE transactions on industrial electronics, Vol. 56 N° 10 (Octobre 2009) 

Public ISBD [article]  in IEEE transactions on industrial electronics > Vol. 56 N° 10 (Octobre 2009) . - pp. 3840 - 3847 Titre : Modeling and identification of elastic robot joints with hysteresis and backlash Type de document : texte imprimé Auteurs : Ruderman, Michael, Auteur ; Hoffmann, Frank, Auteur ; Bertram, Torsten, Auteur Article en page(s) : pp. 3840 - 3847 Note générale : Génie électrique Langues : Anglais (eng) Mots-clés : Friction  hysteresis  Manipulator  dynamics  Modeling  Nonlinearities  Nonlinear  systems  Preisach  Robots Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : This paper presents a novel approach to the modeling and identification of elastic robot joints with hysteresis and backlash. The model captures the dynamic behavior of a rigid robotic manipulator with elastic joints. The model includes electromechanical submodels of the motor and gear from which the relationship between the applied torque and the joint torsion is identified. The friction behavior in both presliding and sliding regimes is captured by generalized Maxwell-slip model. The hysteresis is described by a Preisach operator. The distributed model parameters are identified from experimental data obtained from internal system signals and external angular encoder mounted to the second joint of a 6-DOF industrial robot. The validity of the identified model is confirmed by the agreement of its prediction with independent experimental data not previously used for model identification. The obtained models open an avenue for future advanced high-precision control of robotic manipulator dynamics. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=4796304 [article] Modeling and identification of elastic robot joints with hysteresis and backlash [texte imprimé] / Ruderman, Michael, Auteur ; Hoffmann, Frank, Auteur ; Bertram, Torsten, Auteur . - pp. 3840 - 3847. Génie électrique Langues : Anglais (eng) in IEEE transactions on industrial electronics > Vol. 56 N° 10 (Octobre 2009) . - pp. 3840 - 3847 Mots-clés : Friction  hysteresis  Manipulator  dynamics  Modeling  Nonlinearities  Nonlinear  systems  Preisach  Robots Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : This paper presents a novel approach to the modeling and identification of elastic robot joints with hysteresis and backlash. The model captures the dynamic behavior of a rigid robotic manipulator with elastic joints. The model includes electromechanical submodels of the motor and gear from which the relationship between the applied torque and the joint torsion is identified. The friction behavior in both presliding and sliding regimes is captured by generalized Maxwell-slip model. The hysteresis is described by a Preisach operator. The distributed model parameters are identified from experimental data obtained from internal system signals and external angular encoder mounted to the second joint of a 6-DOF industrial robot. The validity of the identified model is confirmed by the agreement of its prediction with independent experimental data not previously used for model identification. The obtained models open an avenue for future advanced high-precision control of robotic manipulator dynamics. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=4796304