Improving the Dynamic Accuracy of Elastic ...
Type de document :
Communication dans un congrès avec actes
Titre :
Improving the Dynamic Accuracy of Elastic Industrial Robot Joint by Algebraic Identification Approach
Auteur(s) :
Oueslati, Marouene [Auteur]
Laboratoire des Sciences de l'Information et des Systèmes [LSIS]
Non-Asymptotic estimation for online systems [NON-A]
Béarée, Richard [Auteur]
Laboratoire des Sciences de l'Information et des Systèmes [LSIS]
Gibaru, Olivier [Auteur]
Laboratoire des Sciences de l'Information et des Systèmes [LSIS]
Non-Asymptotic estimation for online systems [NON-A]
Moraru, George [Auteur]
Laboratoire des Sciences de l'Information et des Systèmes [LSIS]
Laboratoire des Sciences de l'Information et des Systèmes [LSIS]
Non-Asymptotic estimation for online systems [NON-A]
Béarée, Richard [Auteur]
Laboratoire des Sciences de l'Information et des Systèmes [LSIS]
Gibaru, Olivier [Auteur]
Laboratoire des Sciences de l'Information et des Systèmes [LSIS]
Non-Asymptotic estimation for online systems [NON-A]
Moraru, George [Auteur]
Laboratoire des Sciences de l'Information et des Systèmes [LSIS]
Titre de la manifestation scientifique :
1st International Conference on Systems and Computer Science
Ville :
LILLE
Pays :
France
Date de début de la manifestation scientifique :
2012-08-29
Date de publication :
2012
Mot(s)-clé(s) en anglais :
Industrial Robots
Dynamic accuracy
Algebraic Identification
Vibration
Trajectory planning
Dynamic accuracy
Algebraic Identification
Vibration
Trajectory planning
Discipline(s) HAL :
Sciences de l'ingénieur [physics]/Automatique / Robotique
Sciences de l'ingénieur [physics]/Mécanique [physics.med-ph]/Vibrations [physics.class-ph]
Physique [physics]/Mécanique [physics]/Vibrations [physics.class-ph]
Sciences de l'ingénieur [physics]/Mécanique [physics.med-ph]/Vibrations [physics.class-ph]
Physique [physics]/Mécanique [physics]/Vibrations [physics.class-ph]
Résumé en anglais : [en]
In this paper, an improvement of the dynamic accuracy of a flexible robot joint is addressed. Based on the observation of the measured axis deformation, a simplified elastic joint model is deduced. In the first step, the ...
Lire la suite >In this paper, an improvement of the dynamic accuracy of a flexible robot joint is addressed. Based on the observation of the measured axis deformation, a simplified elastic joint model is deduced. In the first step, the non-linear model component's is analyzed and identified in the cases of the gravity bias and the friction term. In the second step, a non asymptotically algebraic fast identification of the oscillatory behavior of the robot axis is introduced. Finally, the performances of the identification approach are exploited in order to improve the dynamic accuracy of a flexible robot axis. This is done experimentally by the combination of the adaptation of the jerk time profile to reduce the end-point vibration and the model-based precompensation of the end-point tracking error.Lire moins >
Lire la suite >In this paper, an improvement of the dynamic accuracy of a flexible robot joint is addressed. Based on the observation of the measured axis deformation, a simplified elastic joint model is deduced. In the first step, the non-linear model component's is analyzed and identified in the cases of the gravity bias and the friction term. In the second step, a non asymptotically algebraic fast identification of the oscillatory behavior of the robot axis is introduced. Finally, the performances of the identification approach are exploited in order to improve the dynamic accuracy of a flexible robot axis. This is done experimentally by the combination of the adaptation of the jerk time profile to reduce the end-point vibration and the model-based precompensation of the end-point tracking error.Lire moins >
Langue :
Anglais
Comité de lecture :
Oui
Audience :
Internationale
Vulgarisation :
Non
Collections :
Source :
Fichiers
- https://hal.inria.fr/hal-00714545/document
- Accès libre
- Accéder au document
- https://hal.inria.fr/hal-00714545/document
- Accès libre
- Accéder au document
- https://hal.inria.fr/hal-00714545/document
- Accès libre
- Accéder au document
- https://hal.inria.fr/hal-00714545/document
- Accès libre
- Accéder au document
- document
- Accès libre
- Accéder au document
- PID2422779.pdf
- Accès libre
- Accéder au document