Complete dynamic modelling of flexible joint robots

Yu Zhao; Cong Wang; Xiaowen Yu; Masayoshi Tomizuka

doi:10.1115/DSCC2015-9813

Complete dynamic modelling of flexible joint robots

Yu Zhao, Cong Wang, Xiaowen Yu, Masayoshi Tomizuka

Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Scopus citations

Abstract

Joint flexibility is common in industrial robots that have geared joints. In order to design a precision motion controller that compensates the effects of joint elasticity, an accurate dy- namic model of flexible joint robots is required. The models that are commonly used ignore the gyroscopic interactions between the motors and links. In order to evaluate the influence of the ignored gyroscopic interaction, a complete dynamic model for flexible joint robots is derived in this paper. It is shown that when to realize high accuracy for high velocity trajectory tracking, the motor inertia is non-negligible compared to link inertia, and that the neglected interaction terms must be taken into account.

Original language	English (US)
Title of host publication	Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2
Subtitle of host publication	Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems
Publisher	American Society of Mechanical Engineers
ISBN (Electronic)	9780791857243
DOIs	https://doi.org/10.1115/DSCC2015-9813
State	Published - 2015
Event	ASME 2015 Dynamic Systems and Control Conference, DSCC 2015 - Columbus, United States Duration: Oct 28 2015 → Oct 30 2015

Publication series

Name	ASME 2015 Dynamic Systems and Control Conference, DSCC 2015
Volume	1

Other

Other	ASME 2015 Dynamic Systems and Control Conference, DSCC 2015
Country/Territory	United States
City	Columbus
Period	10/28/15 → 10/30/15

All Science Journal Classification (ASJC) codes

Industrial and Manufacturing Engineering
Mechanical Engineering
Control and Systems Engineering

Access to Document

10.1115/DSCC2015-9813

Cite this

Zhao, Y., Wang, C., Yu, X., & Tomizuka, M. (2015). Complete dynamic modelling of flexible joint robots. In Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems (ASME 2015 Dynamic Systems and Control Conference, DSCC 2015; Vol. 1). American Society of Mechanical Engineers. https://doi.org/10.1115/DSCC2015-9813

Zhao, Yu ; Wang, Cong ; Yu, Xiaowen et al. / Complete dynamic modelling of flexible joint robots. Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems. American Society of Mechanical Engineers, 2015. (ASME 2015 Dynamic Systems and Control Conference, DSCC 2015).

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title = "Complete dynamic modelling of flexible joint robots",

abstract = "Joint flexibility is common in industrial robots that have geared joints. In order to design a precision motion controller that compensates the effects of joint elasticity, an accurate dy- namic model of flexible joint robots is required. The models that are commonly used ignore the gyroscopic interactions between the motors and links. In order to evaluate the influence of the ignored gyroscopic interaction, a complete dynamic model for flexible joint robots is derived in this paper. It is shown that when to realize high accuracy for high velocity trajectory tracking, the motor inertia is non-negligible compared to link inertia, and that the neglected interaction terms must be taken into account.",

author = "Yu Zhao and Cong Wang and Xiaowen Yu and Masayoshi Tomizuka",

note = "Publisher Copyright: {\textcopyright} 2015 by ASME.; ASME 2015 Dynamic Systems and Control Conference, DSCC 2015 ; Conference date: 28-10-2015 Through 30-10-2015",

year = "2015",

doi = "10.1115/DSCC2015-9813",

language = "English (US)",

series = "ASME 2015 Dynamic Systems and Control Conference, DSCC 2015",

publisher = "American Society of Mechanical Engineers",

booktitle = "Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2",

}

Zhao, Y, Wang, C, Yu, X & Tomizuka, M 2015, Complete dynamic modelling of flexible joint robots. in Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems. ASME 2015 Dynamic Systems and Control Conference, DSCC 2015, vol. 1, American Society of Mechanical Engineers, ASME 2015 Dynamic Systems and Control Conference, DSCC 2015, Columbus, United States, 10/28/15. https://doi.org/10.1115/DSCC2015-9813

Complete dynamic modelling of flexible joint robots. / Zhao, Yu; Wang, Cong; Yu, Xiaowen et al.
Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems. American Society of Mechanical Engineers, 2015. (ASME 2015 Dynamic Systems and Control Conference, DSCC 2015; Vol. 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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N2 - Joint flexibility is common in industrial robots that have geared joints. In order to design a precision motion controller that compensates the effects of joint elasticity, an accurate dy- namic model of flexible joint robots is required. The models that are commonly used ignore the gyroscopic interactions between the motors and links. In order to evaluate the influence of the ignored gyroscopic interaction, a complete dynamic model for flexible joint robots is derived in this paper. It is shown that when to realize high accuracy for high velocity trajectory tracking, the motor inertia is non-negligible compared to link inertia, and that the neglected interaction terms must be taken into account.

AB - Joint flexibility is common in industrial robots that have geared joints. In order to design a precision motion controller that compensates the effects of joint elasticity, an accurate dy- namic model of flexible joint robots is required. The models that are commonly used ignore the gyroscopic interactions between the motors and links. In order to evaluate the influence of the ignored gyroscopic interaction, a complete dynamic model for flexible joint robots is derived in this paper. It is shown that when to realize high accuracy for high velocity trajectory tracking, the motor inertia is non-negligible compared to link inertia, and that the neglected interaction terms must be taken into account.

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Zhao Y, Wang C, Yu X, Tomizuka M. Complete dynamic modelling of flexible joint robots. In Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems. American Society of Mechanical Engineers. 2015. (ASME 2015 Dynamic Systems and Control Conference, DSCC 2015). doi: 10.1115/DSCC2015-9813

Complete dynamic modelling of flexible joint robots

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