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System identification and a model-based control strategy of motor driven system with high order flexible manipulator

System identification and a model-based control strategy of motor driven system with high order... This paper aims to propose a novel system identification and resonance suppression strategy for motor-driven system with high-order flexible manipulator.Design/methodology/approachIn this paper, first, a unified mathematical model is proposed to describe both the flexible joints and the flexible link system. Then to suppress the resonance brought by the system flexibility, a model based high-order notch filter controller is proposed. To get the true value of the parameters of the high-order flexible manipulator system, a fuzzy-Kalman filter-based two-step system identification algorithm is proposed.FindingsCompared to the traditional system identification algorithm, the proposed two-step system identification algorithm can accurately identify the unknown parameters of the high order flexible manipulator system with high dynamic response. The performance of the two-step system identification algorithm and the model-based high-order notch filter is verified via simulation and experimental results.Originality/valueThe proposed system identification method can identify the system parameters with both high accuracy and high dynamic response. With the proposed system identification and model-based controller, the positioning accuracy of the flexible manipulator can be greatly improved. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Industrial Robot: The International Journal of Robotics Research and Application Emerald Publishing

System identification and a model-based control strategy of motor driven system with high order flexible manipulator

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Publisher
Emerald Publishing
Copyright
© Emerald Publishing Limited
ISSN
0143-991X
eISSN
0143-991X
DOI
10.1108/ir-01-2019-0012
Publisher site
See Article on Publisher Site

Abstract

This paper aims to propose a novel system identification and resonance suppression strategy for motor-driven system with high-order flexible manipulator.Design/methodology/approachIn this paper, first, a unified mathematical model is proposed to describe both the flexible joints and the flexible link system. Then to suppress the resonance brought by the system flexibility, a model based high-order notch filter controller is proposed. To get the true value of the parameters of the high-order flexible manipulator system, a fuzzy-Kalman filter-based two-step system identification algorithm is proposed.FindingsCompared to the traditional system identification algorithm, the proposed two-step system identification algorithm can accurately identify the unknown parameters of the high order flexible manipulator system with high dynamic response. The performance of the two-step system identification algorithm and the model-based high-order notch filter is verified via simulation and experimental results.Originality/valueThe proposed system identification method can identify the system parameters with both high accuracy and high dynamic response. With the proposed system identification and model-based controller, the positioning accuracy of the flexible manipulator can be greatly improved.

Journal

Industrial Robot: The International Journal of Robotics Research and Application – Emerald Publishing

Published: Aug 21, 2019

Keywords: System identification; Flexible manipulator; Resonance suppression

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