資源描述：
《Estimation and modeling of the harmonic drive transmission in the Mitsubishi PA-10 robot arm》由會(huì)員上傳分享，免費(fèi)在線閱讀，更多相關(guān)內(nèi)容在學(xué)術(shù)論文-天天文庫(kù)。
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
