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- W2896719071 abstract "Abstract This paper presents a practical modeling for fast and exact trajectory control of a robot arm with elastic joints. We previously proposed a torsion-angular velocity feedback (TVFB) scheme for suppressing residual vibration of the tip of the robot arm using motor-side measurements only. The scheme utilizes a simple nonlinear observer based on a physically parameterized dynamic model of the robot arm with elastic harmonic-drive (HD) gears. In this paper, we combine a rigid-joint-model based feedforward scheme with the TVFB for executing exact trajectory control, since the implementation of an elastic-joint-model based feedforward is complicated. The TVFB enables to suppress the arm-tip vibration due to feedforward errors between the elastic and rigid joint models. In order to build the combined controller, we propose an accurate physical-parameter-estimation method based on both the linear and nonlinear least squares using the motor-side measurements only. Feedback and feedforward control experiments are conducted to validate the effectiveness of the modeling, estimation and TVFB using a serial two-link robot arm with elastic joints, which simulates the first two joints of a SCARA robot." @default.
- W2896719071 created "2018-10-26" @default.
- W2896719071 creator A5063037378 @default.
- W2896719071 date "2018-01-01" @default.
- W2896719071 modified "2023-09-25" @default.
- W2896719071 title "Physical Parameter Estimation for Feedforward and Feedback Control of a Robot Arm with Elastic Joints" @default.
- W2896719071 cites W1493566990 @default.
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- W2896719071 doi "https://doi.org/10.1016/j.ifacol.2018.09.182" @default.
- W2896719071 hasPublicationYear "2018" @default.
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