Modeling and Identification of Elastic Robot Joints With Hysteresis and Backlash

Ruderman, Michael; Hoffmann, Frank; Bertram, Torsten

doi:10.1109/tie.2009.2015752

Cited by 153 publications

(73 citation statements)

References 18 publications

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“…The same simplistic assumption is necessary in [15], where a State Augmented Extended Kalman Filter is used. Isolated and decoupled backlash and friction behaviors are assumed also in [16], but in that work the friction effect is estimated. A non-linear regressors, based on a peculiar backlash model is presented in [17], but it has been developed considering an isolated backlash system; thus, without considering root dynamic and friction.…”

Section: Parameter Estimationmentioning

confidence: 99%

Contact detection and physical interaction for low cost personal robots

Flacco¹,

Kheddar

2017

2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)

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Abstract-We present a methodology for estimating joints torque due to external forces applied to a robot with large joints backlash and friction. This undesired non-linearity is common in personal robot, due to the use of low cost mechanical components and type of usage. Our method enables contact detection and human-robot physical interaction capabilities without using extra sensors. The effectiveness of our approach is shown with experiments on a Romeo robot arm from SoftBank Robotics.

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Section: Parameter Estimationmentioning

confidence: 99%

Contact detection and physical interaction for low cost personal robots

Flacco¹,

Kheddar

2017

2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)

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“…The existing models are mostly continuous-time models, 10,12,15 and the mathematical expressions are complicated, such as (1) and (2). One major shortcoming to the use of the continuous-time models is the difficulty of controller design due to the complicated form of the robotic model.…”

Section: Bouc-wen Modelmentioning

confidence: 99%

Identification of robotic systems with hysteresis using Nonlinear AutoRegressive eXogenous input models

Zhang

Zhu

2017

International Journal of Advanced Robotic Systems

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Identification of robotic systems with hysteresis is the main focus of this article. Nonlinear AutoRegressive eXogenous input models are proposed to describe the systems with hysteresis, with no limitation on the nonlinear characteristics. The article introduces an efficient approach to select model terms. This selection process is achieved using an orthogonal forward regression based on the leave-one-out cross-validation. A sampling rate reduction procedure is proposed to be incorporated into the term selection process. Two simulation examples corresponding to two typical hysteresis phenomena and one experimental example are finally presented to illustrate the applicability and effectiveness of the proposed approach.

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“…Van Damme et al (2008) proposed a Preisach based hysteresis model to solve the specific shape of the force-contraction characteristic of pneumatic muscles. Ruderman et al (2009) designed a novel approach which combines distributed Preisach model and generalized MaxwellSlip friction model to explore elastic robot joints with hysteresis and backlash. Xiao and Guo (2010) conducted a research on modelling and parameter identification of the hysteresis existed in the micromanipulator for human scale teleoperation system.…”

Section: Introductionmentioning

confidence: 99%

Hysteresis analysis of a notched continuum manipulator driven by tendon

Yang

Dong

et al. 2018

Mech. Sci.

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Abstract. Continuum manipulators are widely used in minimally invasive surgical robot systems (MISRS) because of their flexibility and compliance, while their modelling and control are relatively difficult and complex. This paper proposes an improved hysteresis model of a notched continuum manipulator based on the classical Bouc-Wen model, which can reduce errors and increase the accuracy of the kinematic-mechanics coupled model. Then parameters are identified by the mean of genetic algorithm (GA). Hysteresis phenomenon of the mentioned manipulator is actually caused by many factors such as the hysteresis property of Hyperelastic Nitinol Alloy (HNA), the elastic deformation of tendon and the friction between the tendon and the tube. The results of both static and dynamic experiments show that the introduced hysteresis model can eliminate the positional difference between forward and reverse bending processes, and thus improve the forecast precision of deformation during motion. This model can also be used to compensate modelling errors caused by hysteresis of other similar systems.

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Modeling and Identification of Elastic Robot Joints With Hysteresis and Backlash

Cited by 153 publications

References 18 publications

Contact detection and physical interaction for low cost personal robots

Contact detection and physical interaction for low cost personal robots

Identification of robotic systems with hysteresis using Nonlinear AutoRegressive eXogenous input models

Hysteresis analysis of a notched continuum manipulator driven by tendon

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