Estimation and modeling of the harmonic drive transmission in the Mitsubishi PA-10 robot arm

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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