Experimental parameter identification of flexible joint robot manipulators

Robotica ◽  
2017 ◽  
Vol 36 (3) ◽  
pp. 313-332 ◽  
Author(s):  
Roger Miranda-Colorado ◽  
Javier Moreno-Valenzuela
Keyword(s):  
Parameter Identification ◽  
Numerical Simulations ◽  
Least Squares ◽  
Robot Manipulators ◽  
Experimental Parameter ◽  
Velocity Estimation ◽  
Identification Procedure ◽  
Flexible Joint ◽  
Identification Method ◽  
Estimated Parameters

SUMMARYThis paper contributes by presenting a parameter identification procedure for n-degrees-of-freedom flexible joint robot manipulators. An advantage of the given procedure is the obtaining of robot parameters in a single experiment. Guidelines are provided for the computing of the joint position filtering and velocity estimation. The method relies in the filtered robot model, for which no acceleration measurements are required. The filtered model is expressed in regressor form, which allows applying a parameter identification procedure based on the least squares algorithm. In order to assess the performance of the proposed parameter identification scheme, an implementation of a least squares with forgetting factor (LSFF) parameter identification method is carried out. In order to assess the reliability of the tested identification schemes, a model-based trajectory tracking controller has been implemented twice in different conditions: one control experiment using the estimated parameters provided by the proposed scheme, and another experiment using the parameters given by the LSFF method. These real-time control experiments are compared with respect to numerical simulations using the estimated parameters for each identification method. For the proposed scheme, the comparison between experiments and numerical simulations indicates better accuracy in the torque and position prediction.

scholarly journals A Simplified Fractional Order Equivalent Circuit Model and Adaptive Online Parameter Identification Method for Lithium-Ion Batteries

2019 ◽  
Vol 2019 ◽  
pp. 1-8 ◽  
Author(s):  
Jianlin Wang ◽  
Le Zhang ◽  
Dan Xu ◽  
Peng Zhang ◽  
Gairu Zhang
Keyword(s):  
Parameter Identification ◽  
Least Squares ◽  
Equivalent Circuit ◽  
Fractional Order ◽  
Equivalent Circuit Model ◽  
Lithium Ion ◽  
Circuit Model ◽  
Stability And Convergence ◽  
Battery Management System ◽  
Identification Method

In order to improve the battery management system performance and enhance the adaptability of the system, a fractional order equivalent circuit model of lithium-ion battery based on electrochemical test was established. The parameters of the fractional order equivalent circuit model are identified by the least squares parameter identification method. The least squares parameter identification method needs to rely on the harsh test conditions of the laboratory, and the parameter identification result is static; it cannot adapt to the characteristics of the lithium battery under dynamic conditions. Taking into account the dynamic changes of lithium batteries, a parameter adaptive online estimation algorithm for fractional equivalent circuit model is proposed. Based on the theory of fractional order calculus and indirect Lyapunov method, the stability and convergence of the estimator are analyzed. Finally, simulation experiments show that this method can continuously estimate the parameters of the fractional order equivalent circuit under UDDS conditions.

scholarly journals Closed-Loop Dynamic Parameter Identification of Robot Manipulators Using Modified Fourier Series

10.5772/45818 ◽  
2012 ◽  
Vol 9 (1) ◽  
pp. 29 ◽  
Author(s):  
Wenxiang Wu ◽  
Shiqiang Zhu ◽  
Xuanyin Wang ◽  
Huashan Liu
Keyword(s):  
Fourier Series ◽  
Parameter Identification ◽  
Closed Loop ◽  
Robot Manipulators ◽  
Dynamic Parameter ◽  
Measurement Noise ◽  
Identification Accuracy ◽  
Parameter Estimates ◽  
Identification Procedure ◽  
Dynamic Parameter Identification

This paper concerns the problem of dynamic parameter identification of robot manipulators and proposes a closed-loop identification procedure using modified Fourier series (MFS) as exciting trajectories. First, a static continuous friction model is involved to model joint friction for realizable friction compensation in controller design. Second, MFS satisfying the boundary conditions are firstly designed as periodic exciting trajectories. To minimize the sensitivity to measurement noise, the coefficients of MFS are optimized according to the condition number criterion. Moreover, to obtain accurate parameter estimates, the maximum likelihood estimation (MLE) method considering the influence of measurement noise is adopted. The proposed identification procedure has been implemented on the first three axes of the QIANJIANG-I 6-DOF robot manipulator. Experiment results verify the effectiveness of the proposed approach, and comparison between identification using MFS and that using finite Fourier series (FFS) reveals that the proposed method achieves better identification accuracy.

A matlab-based identification procedure applied to a two-degrees-of-freedom robot manipulator for engineering students

2017 ◽  
Vol 54 (4) ◽  
pp. 319-340 ◽  
Author(s):  
J Moreno-Valenzuela ◽  
Roger Miranda-Colorado ◽  
Carlos Aguilar-Avelar
Keyword(s):  
Parameter Identification ◽  
Degrees Of Freedom ◽  
Engineering Students ◽  
Robot Manipulator ◽  
Identification Procedure ◽  
Two Degrees Of Freedom ◽  
Estimated Parameters ◽  
Torque Measurements ◽  
Applied Torque ◽  
Consistent Assessment

This document proposes a parameter identification procedure, which overcomes drawbacks due to disturbances in an experimental platform. The main purpose of this work is to describe and formalize a matlab-based identification procedure that can be used by undergraduate and graduate students. The procedure can be easily extended to many types of system. As an application example, this work considers a two-degrees-of-freedom rigid link robot manipulator. The program code for matlab is provided, only requiring the joint position and applied torque measurements. Finally, the estimated parameters of the identified system are validated, showing that simulations and experiments are consistent. Assessment of the identification method by engineering students is described. Specifically, learning of parameter identification was observed since students were able to perform the proposed methodology and to apply it to other systems.

Application of Model Based Diagnosis in Two-Span Rotor System with Two Unbalance Faults

2011 ◽  
Vol 199-200 ◽  
pp. 780-783
Author(s):  
Yue Gang Luo ◽  
Song He Zhang ◽  
Hong Liang Yao ◽  
Bang Chun Wen
Keyword(s):  
Numerical Simulations ◽  
Least Squares ◽  
Rotor System ◽  
Fault Identification ◽  
Residual Vibration ◽  
Vibration Signals ◽  
Least Squares Fitting ◽  
Identification Method ◽  
Model Based

The model based fault identification method was used to identify the two unbalance faults in two-span rotor system. The unbalance location and magnitude were identified using least squares fitting approach by the system’s transient residual vibration. The all-phasic FFT technique was used to analyze the original phases of vibration signals. The unbalance location and magnitude of the rotor system can be detected by using only a few sensors. Numerical simulations and experiment on rotor system with two unbalance faults were used, which proved the efficiency of the method.

scholarly journals Parameter identification method of hydraulic automatic gauge control system based on chaotic wolf pack optimization algorithm

AIP Advances ◽  
2021 ◽  
Vol 11 (5) ◽  
pp. 055302
Author(s):  
Yong Zhu ◽  
Guangpeng Li ◽  
Shengnan Tang ◽  
Wanlu Jiang ◽  
Zhijian Zheng
Keyword(s):  
Control System ◽  
Parameter Identification ◽  
Optimization Algorithm ◽  
Identification Method ◽  
Automatic Gauge Control

scholarly journals Parameter Estimation of a Countershaft Brake for Heavy-Duty Vehicles with Automated Mechanical Transmission

Processes ◽  
2021 ◽  
Vol 9 (6) ◽  
pp. 1036
Author(s):  
Yunxia Li ◽  
Lei Li
Keyword(s):  
Parameter Identification ◽  
Least Squares ◽  
Dynamic Model ◽  
Control Flow ◽  
Mechanical Transmission ◽  
Equivalent Resistance ◽  
Heavy Duty ◽  
Characteristic Parameters ◽  
Resistance Torque ◽  
Heavy Duty Vehicles

A countershaft brake is used as a transmission brake (TB) to realize synchronous shifting by reducing the automated mechanical transmission (AMT) input shaft’s speed rapidly. This process is performed to reduce shifting time and improve shifting quality for heavy-duty vehicles equipped with AMT without synchronizer. To improve controlled synchronous shifting, the AMT input shaft’s equivalent resistance torque and the TB’s characteristic parameters are studied. An AMT dynamic model under neutral gear position is analyzed during the synchronous control interval. A dynamic model of the countershaft brake is discussed, and its control flow is given. The parameter identification method of the AMT input shaft’s equivalent resistance torque is given on the basis of the least squares algorithm. The parameter identification of the TB’s characteristic parameters is proposed on the basis of the recursive least squares method (RLSM). Experimental results show that the recursive estimations of the TB’s characteristic parameters under different duty cycles of the TB solenoid valve, including brake torque estimation, estimation accuracy, and braking intensity estimation, can be effectively estimated. The research provides some reliable evidence to further study the synchronous shifting control schedule for heavy-duty vehicles with AMT.

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