Identification of Robot Joint Torsional Stiffness Based on the Amplitude of the Frequency Response of Asynchronous Data
The difficulty of adding external excitation and the asynchronous data collection from the industrial robot operation limited the online parameter identification of industrial robots. In this regard, this study proposes an identification method that only uses the amplitude of the frequency response...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-09-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/9/9/204 |
| _version_ | 1797518438750486528 |
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| author | Kai Xu Xing Wu Xiaoqin Liu Dongxiao Wang |
| author_facet | Kai Xu Xing Wu Xiaoqin Liu Dongxiao Wang |
| author_sort | Kai Xu |
| collection | DOAJ |
| description | The difficulty of adding external excitation and the asynchronous data collection from the industrial robot operation limited the online parameter identification of industrial robots. In this regard, this study proposes an identification method that only uses the amplitude of the frequency response function (FRF) of the system to identify robot joint torsional stiffness and dynamic parameters. The error criterion function shows that this method is feasible and comparable to applying the complete frequency response for identification. The Levenberg–Marquardt (L-M) algorithm is used to find the global optimal value of the error criterion function. In addition, an operational excitation method is proposed to excite the system. The speed profile is set as a triangle wave to excite the system using rectangular wave electromagnetic torques. The simulation results show that using the amplitude of the FRF to identify parameters applies to asynchronous data. The experiments on a single-degree-of-freedom articulated arm test bench show that the motion excitation method is effective, and both stiffness and inertia are identifiable. |
| first_indexed | 2024-03-10T07:29:53Z |
| format | Article |
| id | doaj.art-4f42cf87f18c49c6b1fe27fa07b8cbe9 |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-10T07:29:53Z |
| publishDate | 2021-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-4f42cf87f18c49c6b1fe27fa07b8cbe92023-11-22T13:57:54ZengMDPI AGMachines2075-17022021-09-019920410.3390/machines9090204Identification of Robot Joint Torsional Stiffness Based on the Amplitude of the Frequency Response of Asynchronous DataKai Xu0Xing Wu1Xiaoqin Liu2Dongxiao Wang3Key Laboratory of Advanced Equipment Intelligent Manufacturing Technology of Yunnan Province, Kunming University of Science and Technology, Kunming 650500, ChinaKey Laboratory of Advanced Equipment Intelligent Manufacturing Technology of Yunnan Province, Kunming University of Science and Technology, Kunming 650500, ChinaKey Laboratory of Advanced Equipment Intelligent Manufacturing Technology of Yunnan Province, Kunming University of Science and Technology, Kunming 650500, ChinaKey Laboratory of Advanced Equipment Intelligent Manufacturing Technology of Yunnan Province, Kunming University of Science and Technology, Kunming 650500, ChinaThe difficulty of adding external excitation and the asynchronous data collection from the industrial robot operation limited the online parameter identification of industrial robots. In this regard, this study proposes an identification method that only uses the amplitude of the frequency response function (FRF) of the system to identify robot joint torsional stiffness and dynamic parameters. The error criterion function shows that this method is feasible and comparable to applying the complete frequency response for identification. The Levenberg–Marquardt (L-M) algorithm is used to find the global optimal value of the error criterion function. In addition, an operational excitation method is proposed to excite the system. The speed profile is set as a triangle wave to excite the system using rectangular wave electromagnetic torques. The simulation results show that using the amplitude of the FRF to identify parameters applies to asynchronous data. The experiments on a single-degree-of-freedom articulated arm test bench show that the motion excitation method is effective, and both stiffness and inertia are identifiable.https://www.mdpi.com/2075-1702/9/9/204torsional stiffnessfrequency-response function amplituderobot jointmotion excitationparameter identification |
| spellingShingle | Kai Xu Xing Wu Xiaoqin Liu Dongxiao Wang Identification of Robot Joint Torsional Stiffness Based on the Amplitude of the Frequency Response of Asynchronous Data Machines torsional stiffness frequency-response function amplitude robot joint motion excitation parameter identification |
| title | Identification of Robot Joint Torsional Stiffness Based on the Amplitude of the Frequency Response of Asynchronous Data |
| title_full | Identification of Robot Joint Torsional Stiffness Based on the Amplitude of the Frequency Response of Asynchronous Data |
| title_fullStr | Identification of Robot Joint Torsional Stiffness Based on the Amplitude of the Frequency Response of Asynchronous Data |
| title_full_unstemmed | Identification of Robot Joint Torsional Stiffness Based on the Amplitude of the Frequency Response of Asynchronous Data |
| title_short | Identification of Robot Joint Torsional Stiffness Based on the Amplitude of the Frequency Response of Asynchronous Data |
| title_sort | identification of robot joint torsional stiffness based on the amplitude of the frequency response of asynchronous data |
| topic | torsional stiffness frequency-response function amplitude robot joint motion excitation parameter identification |
| url | https://www.mdpi.com/2075-1702/9/9/204 |
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