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页数:6页
时间:2019-08-01
《Estimation and modeling of the harmonic drive transmission in the Mitsubishi PA-10 robot arm》由会员上传分享,免费在线阅读,更多相关内容在学术论文-天天文库。
1、Proceedingsofthe2003IEEERSIInti.ConferenceonIntelligentRobotsandSystemsLasVegas.Nevada.October2003EstimationandmodelingoftheharmonicdrivetransmissionintheMitsubishiPA-IOrobotarm*ChristopherW.KennedyandJaydevP.Desai’ProgramforRobotics,IntelligentSensingandMechatronics(P
2、RISM)Laboratory3141ChestnutStreet,MEMDepartment,Room2-115DrexelUniversity,Philadelphia,PA19104,USAEmail:{cwk,desai}@coe.drexel.eduAbstractdrivesystemsmakethedevelopmentofanaccuratedynamicmodeloftherobotextremelychallenging.ThepurposeofthispaperistopresentourresultsinTh
3、enoveltyofthisresearchisthereforethedevelopingadynamicmodeloftheMitsubishiPA-IOdevelopmentofasystematicalgorithmtoextracttherobotarmforthepurposeoflowvelocitytrajectorymodelparametersofaharmonicgeardriventrackingusingverylowfeedbackgains.ThenoveltytransmissionintheMits
4、ubishiPA-IOrobotarm.Thisofthisresearchisthereforethedevelopmentofarobotissignificantlyusedinresearchlaboratories[l-systematicalgorithmtoextractthemodel31andwebelievethatthispaperisthefirstofitskindparametersofaharmonicdrivetransmissioninthetoaddressthetransmissionmodel
5、ingandrobotarmtofacilitatemodel-basedcontrol.WeimplementationontheMitsubishiPA-IOrobotarminhavechosentheelbowpitchjoint(joint4JofthePA-aresearchenvironment.IOrobotarmforestimationandmodelingpurposes.WehavedoneseveralexperimentstoidentifytheThereisasubstantialbodyofprev
6、iousresearchinvariousparametersoftheharmonicdrivesystem.theareaofmodelingharmonicdrivesystems14-61,WeconcludewithasampletrajectorytrackingtaskTuttle[4]presentsanexcellentoverviewofmodelingwherebythefeedbacktorquerequiredtodoandparameteridentificationofharmonicdrivetraj
7、ectorytrackingwithandwithouttheparametersystemsandKircanski151providesadetailedanalysisidentificationoftheHDTissignificantlydifferent.ofthenonlinearbehaviorofharmonicgearsduetocompliance,frictionandhysteresis.Althoughthese1Introductionresearcheffortsprovidesignificanti
8、nsightintothephysicalphenomenathatcharacterizeharmonicdriveAccuratemodelingoftheinherentdynamicsofabehavior,allofthei
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