Robust Parameter Estimation of Robot Manipulators Using Torque Separation Technique

In this paper, we propose a robust method for estimating the parameters of robot manipulators using the torque separation technique, which was developed previously by the authors, to extract the inertial, gravitational, and frictional components from the input torques of multiple sinusoidal joint mo...

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Autores principales:	Dawoon Jung, Hyunmin Do, Taeyong Choi, Jongwoo Park, Joono Cheong
Formato:	article
Lenguaje:	EN
Publicado:	IEEE 2021
Materias:	Parameter estimation robot dynamics torque separation Electrical engineering. Electronics. Nuclear engineering TK1-9971
Acceso en línea:	https://doaj.org/article/a9cbc338e81f4a0a9ab56f80c312fb55
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spelling	oai:doaj.org-article:a9cbc338e81f4a0a9ab56f80c312fb552021-11-18T00:08:28ZRobust Parameter Estimation of Robot Manipulators Using Torque Separation Technique2169-353610.1109/ACCESS.2021.3122787https://doaj.org/article/a9cbc338e81f4a0a9ab56f80c312fb552021-01-01T00:00:00Zhttps://ieeexplore.ieee.org/document/9585525/https://doaj.org/toc/2169-3536In this paper, we propose a robust method for estimating the parameters of robot manipulators using the torque separation technique, which was developed previously by the authors, to extract the inertial, gravitational, and frictional components from the input torques of multiple sinusoidal joint motions. The separated components of the input torque produce a set of reduced linear regression equations where the dynamic parameters of the robot manipulators appear decoupled or minimally coupled. A mathematical analysis is presented to show that the set of reduced regression equations tends to yield more robust parameter estimation than the conventional way where a large dimensional full regression equation is solved simultaneously. An iterative scheme to alleviate the possibility of parameter estimation error caused by the deviation from the assumed ideal sinusoidal motions is also proposed. Experimentation with two robot manipulators is used to verify the proposed approach and related claims. The proposed method is simple and pragmatic without requiring any specialized signal filtering and technical know-hows which numerous previous methods often demanded for explicitly or implicitly.Dawoon JungHyunmin DoTaeyong ChoiJongwoo ParkJoono CheongIEEEarticleParameter estimationrobot dynamicstorque separationElectrical engineering. Electronics. Nuclear engineeringTK1-9971ENIEEE Access, Vol 9, Pp 150443-150458 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Parameter estimation robot dynamics torque separation Electrical engineering. Electronics. Nuclear engineering TK1-9971
spellingShingle	Parameter estimation robot dynamics torque separation Electrical engineering. Electronics. Nuclear engineering TK1-9971 Dawoon Jung Hyunmin Do Taeyong Choi Jongwoo Park Joono Cheong Robust Parameter Estimation of Robot Manipulators Using Torque Separation Technique
description	In this paper, we propose a robust method for estimating the parameters of robot manipulators using the torque separation technique, which was developed previously by the authors, to extract the inertial, gravitational, and frictional components from the input torques of multiple sinusoidal joint motions. The separated components of the input torque produce a set of reduced linear regression equations where the dynamic parameters of the robot manipulators appear decoupled or minimally coupled. A mathematical analysis is presented to show that the set of reduced regression equations tends to yield more robust parameter estimation than the conventional way where a large dimensional full regression equation is solved simultaneously. An iterative scheme to alleviate the possibility of parameter estimation error caused by the deviation from the assumed ideal sinusoidal motions is also proposed. Experimentation with two robot manipulators is used to verify the proposed approach and related claims. The proposed method is simple and pragmatic without requiring any specialized signal filtering and technical know-hows which numerous previous methods often demanded for explicitly or implicitly.
format	article
author	Dawoon Jung Hyunmin Do Taeyong Choi Jongwoo Park Joono Cheong
author_facet	Dawoon Jung Hyunmin Do Taeyong Choi Jongwoo Park Joono Cheong
author_sort	Dawoon Jung
title	Robust Parameter Estimation of Robot Manipulators Using Torque Separation Technique
title_short	Robust Parameter Estimation of Robot Manipulators Using Torque Separation Technique
title_full	Robust Parameter Estimation of Robot Manipulators Using Torque Separation Technique
title_fullStr	Robust Parameter Estimation of Robot Manipulators Using Torque Separation Technique
title_full_unstemmed	Robust Parameter Estimation of Robot Manipulators Using Torque Separation Technique
title_sort	robust parameter estimation of robot manipulators using torque separation technique
publisher	IEEE
publishDate	2021
url	https://doaj.org/article/a9cbc338e81f4a0a9ab56f80c312fb55
work_keys_str_mv	AT dawoonjung robustparameterestimationofrobotmanipulatorsusingtorqueseparationtechnique AT hyunmindo robustparameterestimationofrobotmanipulatorsusingtorqueseparationtechnique AT taeyongchoi robustparameterestimationofrobotmanipulatorsusingtorqueseparationtechnique AT jongwoopark robustparameterestimationofrobotmanipulatorsusingtorqueseparationtechnique AT joonocheong robustparameterestimationofrobotmanipulatorsusingtorqueseparationtechnique
_version_	1718425244370206720

Robust Parameter Estimation of Robot Manipulators Using Torque Separation Technique

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