Lagrange and Newton-Euler dynamic modeling of a gear-driven robot manipulator with inclusion of motor inertia effects

Sciavicco, L.; Siciliano, Bruno; Villani, Luigi

doi:10.1163/156855395x00427

Cited by 37 publications

(20 citation statements)

References 19 publications

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“…Remark 1. Equation 9neglects the coupling effects between rotor and link motion [59]. This assumption has been made for electrically driven robots provided with high gear ratio.…”

Section: Dynamics Of Contact-free Motion Robotsmentioning

confidence: 99%

Decentralized adaptive partitioned approximation control of high degrees-of-freedom robotic manipulators considering three actuator control modes

Al-Shuka

Song

2018

Int. J. Dynam. Control

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Partitioned approximation control is avoided in most decentralized control algorithms; however, it is essential to design a feedforward control term for improving the tracking accuracy of the desired references. In addition, consideration of actuator dynamics is important for a robot with high-velocity movement and highly varying loads. As a result, this work is focused on decentralized adaptive partitioned approximation control for complex robotic systems using the orthogonal basis functions as strong approximators. In essence, the partitioned approximation technique is intrinsically decentralized with some modifications. Three actuator control modes are considered in this study: (i) a torque control mode in which the armature current is well controlled by a current servo amplifier and the motor torque/current constant is known, (ii) a current control mode in which the torque/current constant is unknown, and (iii) a voltage control mode with no current servo control being available. The proposed decentralized control law consists of three terms: the partitioned approximation-based feedforward term that is necessary for precise tracking, the high gain-based feedback term, and the adaptive sliding gain-based term for compensation of modeling error. The passivity property is essential to prove the stability of local stability of the individual subsystem with guaranteed global stability. Two case studies are used to prove the validity of the proposed controller: a two-link manipulator and a six-link biped robot.

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“…Remark 1. Equation 9neglects the coupling effects between rotor and link motion [59]. This assumption has been made for electrically driven robots provided with high gear ratio.…”

Section: Dynamics Of Contact-free Motion Robotsmentioning

confidence: 99%

Decentralized adaptive partitioned approximation control of high degrees-of-freedom robotic manipulators considering three actuator control modes

Al-Shuka

Song

2018

Int. J. Dynam. Control

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“…To map the control signal c onto the torque/force applied at the joint axis and vice-versa, we also need to include the respective actuator-dependent function τ (c). It is worth mentioning that when electric motors and gears are employed a non-negligible contribution to the dynamics is typically due to the inertia of the rotor I m of the actuators [25], [26], which we have considered by adding it to the diagonal of the inertia matrix through the square of the gear ratio κ r . In summary, the module data to be stored in the modules for dynamics are listed in Tab.…”

Section: ) Characterization Of Modules For Dynamicsmentioning

confidence: 99%

On-the-Fly Control Design of Modular Robot Manipulators

Giusti

Althoff

2018

IEEE Trans. Contr. Syst. Technol.

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Abstract-We consider the problem of automatically designing model-based controllers of modular robot manipulators in a systematic way. Modular robots are especially useful in flexible manufacturing, where one wishes to quickly assemble robots from a set of modules for temporary tasks. The evaluation of all possible dynamical models is typically impractical, undermining the implementation of model-based control laws. Contrary to most other work that approached this challenge by designing decentralized controllers, we generate on-the-fly model-based centralized controllers after a new robot has been assembled. In this brief we extend the applicability of our previous work on this subject by considering both link and joint modules, assemblydependent friction effects and we finally present experiments that validate the overall approach.

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“…Subsequently, enhanced versions of this algorithm have been presented in e.g. [24], [25]. A review on methods for robot dynamics can be found in [26].…”

Section: B Dynamic Model From Modular Informationmentioning

confidence: 99%

Automatic centralized controller design for modular and reconfigurable robot manipulators

Giusti

Althoff

2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-We address the problem of controlling modular robot manipulators. The challenge of modular-robot control is that the overall system dynamics are unknown due to its flexible composition from given modules. Most previous work has faced this problem by designing decentralized controllers. Simple decentralized controllers do not guarantee global asymptotic stability without knowledge of the overall system dynamics and alternative versions involving communication with neighboring modules result in complicated control concepts. Our approach is completely different: we store parameters regarding the dynamics and kinematics of each module and a unique identification number in itself. After finishing the assembly of the modules, the parameters are gathered in a central controller, which also detects the configuration using the identification numbers. Our centralized controller uses this information to synthesize modelbased control laws on-the-fly as if the full system dynamics are known beforehand. We introduce a novel and compact notation to automate this procedure and to generalize the derivation of the kinematic and dynamic model for heterogeneous modules. Finally, a possible application is shown using simulations.

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Lagrange and Newton-Euler dynamic modeling of a gear-driven robot manipulator with inclusion of motor inertia effects

Cited by 37 publications

References 19 publications

Decentralized adaptive partitioned approximation control of high degrees-of-freedom robotic manipulators considering three actuator control modes

Decentralized adaptive partitioned approximation control of high degrees-of-freedom robotic manipulators considering three actuator control modes

On-the-Fly Control Design of Modular Robot Manipulators

Automatic centralized controller design for modular and reconfigurable robot manipulators

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