Titulo:
Parameter and Payload Identification of a 2-DOF Robotic Manipulator: An Algebraic Identification Approach
.
Sumario:
This paper addresses the problem of identifying the parameters and the payloads of a 2-DOF robotic manipulator. The methodology proposed for our research was the algebraic identification method conducted in two stages: First, identifying the parameters of the manipulator and second, identifying the tip payload. Two different numerical simulation cases were used to validate the proposed identification methodology. In both cases, fast convergence was achieved with a low error percentage.
Guardado en:
2256-1498
13
2023-03-03
1
14
Revista Mutis - 2023
Esta obra está bajo una licencia internacional Creative Commons Atribución-NoComercial-CompartirIgual 4.0.
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Parameter and Payload Identification of a 2-DOF Robotic Manipulator: An Algebraic Identification Approach Identificación de parámetros y carga útil de un manipulador robótico 2-DOF: un enfoque de identificación algebraica This paper addresses the problem of identifying the parameters and the payloads of a 2-DOF robotic manipulator. The methodology proposed for our research was the algebraic identification method conducted in two stages: First, identifying the parameters of the manipulator and second, identifying the tip payload. Two different numerical simulation cases were used to validate the proposed identification methodology. In both cases, fast convergence was achieved with a low error percentage. Este artículo aborda el problema de identificar los parámetros y las cargas útiles de un manipulador robótico 2-DOF. La metodología propuesta para nuestra investigación fue el método de identificación algebraica realizada en dos etapas: primero, identificando los parámetros del manipulador, y segundo, identificando la carga útil de la punta. Se utilizaron dos casos de simulación numérica diferentes para validar la metodología de identificación propuesta. En ambos casos se logró una rápida convergencia con un bajo porcentaje de error. Páez-García, Julián Y. Vargas-Tenjo, Laura C. Charry-Belén, Ricardo A. Coral-Enriquez, Horacio Algebraic identification Parameter estimation Payload estimation Derivative extended-state observer 2-DOF robotic manipulator engineering identificación algebraica estimación de parámetros estimación de carga útil observador de estado extendido derivado manipulador robótico 2-dof ingeniería 13 2 Núm. 2 , Año 2023 : Dossier. XI congreso CIIMA Artículo de revista Journal article 2023-03-03T00:00:00Z 2023-03-03T00:00:00Z 2023-03-03 application/pdf Universidad de Bogotá Jorge Tadeo Lozano Revista Mutis 2256-1498 https://revistas.utadeo.edu.co/index.php/mutis/article/view/Parameter-Payload-Identification-2-DOF-Robotic-Manipulator 10.21789/22561498.1978 https://doi.org/10.21789/22561498.1978 eng https://creativecommons.org/licenses/by-nc-sa/4.0 Revista Mutis - 2023 Esta obra está bajo una licencia internacional Creative Commons Atribución-NoComercial-CompartirIgual 4.0. 1 14 Becedas, J., Trapero, J. R., Feliu, V., & Sira-Ramírez, H. (2009). Adaptive controller for single-link flexible manipulators based on algebraic identification and generalized proportional integral control. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, 39(3). https://doi.org/10.1109/TSMCB.2008.2008905 Chandan, S., Shah, J., Singh, T. P., Shaw, R. N., & Ghosh, A. (2021). Inverse kinematics analysis of 7-degree of freedom welding and drilling robot using artificial intelligence techniques. In Artificial Intelligence for Future Generation Robotics. https://doi.org/10.1016/B978-0-323-85498-6.00004-6 Coral-Enriquez, H., Medina-Camacho, S., & Caballero-Mateus, S. (2021). Modeling and Identification of a 5-DOF Robotic Manipulator Autonomous Bicycles View project Active Disturbance Rejection Control to Stabilize a Bicycle Using a Single-gimbal Control Moment Gyroscope View project. https://www.researchgate.net/publication/353206863 Cruz, G. L., Alazki, H., & Hernández, R. G. (2018). Super Twisting Control For Thermo’s Catalyst-5 Robotic Arm. 51(13). https://doi.org/10.1016/j.ifacol.2018.07.295 Eltayeb, A., Rahmat, M. F., Mohammed Eltoum, M. A., Sanhoury, I. M. H., & Basri, M. A. M. (2019). Adaptive sliding mode control design for the 2-DOF robot arm manipulators. Proceedings of the International Conference on Computer, Control, Electrical, and Electronics Engineering 2019, ICCCEEE 2019. https://doi.org/10.1109/ICCCEEE46830.2019.9071314 Ferreira, C. C. T., & de Oliveira Serra, G. L. (2012). An approach for fuzzy frequency response estimation of flexible robot arm from experimental data. 2012 IEEE International Conference on Industrial Technology, ICIT 2012, Proceedings. https://doi.org/10.1109/ICIT.2012.6209932 Ghanbari, M., & Abbasi, M. (2017). Identification Of Flexible Robot Arm System Using Extended Volterra Series By Kautz Orthogonal Functions. Grau, A., Indri, M., lo Bello, L., & Sauter, T. (2017). Industrial robotics in factory automation: From the early stage to the Internet of Things. Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society, 2017-January. https://doi.org/10.1109/IECON.2017.8217070 Guo, Q., Yu, T., & Jiang, D. (2015). Robust H positional control of 2-DOF robotic arm driven by electro-hydraulic servo system. ISA Transactions, 59. https://doi.org/10.1016/j.isatra.2015.09.014 Hashemi, S. M., & Werner, H. (2014). Parameter identification of a robot arm using separable least squares technique. 2009 European Control Conference, ECC 2009. https://doi.org/10.23919/ecc.2009.7074731 Huang, K., Xian, Y., Zhen, S., & Sun, H. (2021). Robust control design for a planar humanoid robot arm with high strength composite gear and experimental validation. Mechanical Systems and Signal Processing, 155. https://doi.org/10.1016/j.ymssp.2020.107442 Li, X., & Yu, W. (2011). A systematic tunning method of PID controller for robot manipulators. IEEE International Conference on Control and Automation, ICCA. https://doi.org/10.1109/ICCA.2011.6138081 Lin, F. (2007). Robust Control Design: An Optimal Control Approach. In Robust Control Design: An Optimal Control Approach. https://doi.org/10.1002/9780470059579 Liu, H. (2020). Robot Systems for Rail Transit Applications. In Robot Systems for Rail Transit Applications. https://doi.org/10.1016/B978-0-12-822968-2.01001-9 Sira-Ramírez, H., García-Rodríguez, C., Cortés-Romero, J., & Luviano-Juárez, A. (2014). Algebraic Identification and Estimation Methods in Feedback Control Systems. In Algebraic Identification and Estimation Methods in Feedback Control Systems (Vol. 9781118730607). https://doi.org/10.1002/9781118730591 https://revistas.utadeo.edu.co/index.php/mutis/article/download/Parameter-Payload-Identification-2-DOF-Robotic-Manipulator/2021 info:eu-repo/semantics/article http://purl.org/coar/resource_type/c_6501 info:eu-repo/semantics/publishedVersion http://purl.org/coar/version/c_970fb48d4fbd8a85 info:eu-repo/semantics/openAccess http://purl.org/coar/access_right/c_abf2 Text Publication |
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UNIVERSIDAD JORGE TADEO LOZANO |
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Colombia |
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Revista Mutis |
| title |
Parameter and Payload Identification of a 2-DOF Robotic Manipulator: An Algebraic Identification Approach |
| spellingShingle |
Parameter and Payload Identification of a 2-DOF Robotic Manipulator: An Algebraic Identification Approach Páez-García, Julián Y. Vargas-Tenjo, Laura C. Charry-Belén, Ricardo A. Coral-Enriquez, Horacio Algebraic identification Parameter estimation Payload estimation Derivative extended-state observer 2-DOF robotic manipulator engineering identificación algebraica estimación de parámetros estimación de carga útil observador de estado extendido derivado manipulador robótico 2-dof ingeniería |
| title_short |
Parameter and Payload Identification of a 2-DOF Robotic Manipulator: An Algebraic Identification Approach |
| title_full |
Parameter and Payload Identification of a 2-DOF Robotic Manipulator: An Algebraic Identification Approach |
| title_fullStr |
Parameter and Payload Identification of a 2-DOF Robotic Manipulator: An Algebraic Identification Approach |
| title_full_unstemmed |
Parameter and Payload Identification of a 2-DOF Robotic Manipulator: An Algebraic Identification Approach |
| title_sort |
parameter and payload identification of a 2-dof robotic manipulator: an algebraic identification approach |
| title_eng |
Identificación de parámetros y carga útil de un manipulador robótico 2-DOF: un enfoque de identificación algebraica |
| description |
This paper addresses the problem of identifying the parameters and the payloads of a 2-DOF robotic manipulator. The methodology proposed for our research was the algebraic identification method conducted in two stages: First, identifying the parameters of the manipulator and second, identifying the tip payload. Two different numerical simulation cases were used to validate the proposed identification methodology. In both cases, fast convergence was achieved with a low error percentage.
|
| description_eng |
Este artículo aborda el problema de identificar los parámetros y las cargas útiles de un manipulador robótico 2-DOF. La metodología propuesta para nuestra investigación fue el método de identificación algebraica realizada en dos etapas: primero, identificando los parámetros del manipulador, y segundo, identificando la carga útil de la punta. Se utilizaron dos casos de simulación numérica diferentes para validar la metodología de identificación propuesta. En ambos casos se logró una rápida convergencia con un bajo porcentaje de error.
|
| author |
Páez-García, Julián Y. Vargas-Tenjo, Laura C. Charry-Belén, Ricardo A. Coral-Enriquez, Horacio |
| author_facet |
Páez-García, Julián Y. Vargas-Tenjo, Laura C. Charry-Belén, Ricardo A. Coral-Enriquez, Horacio |
| topicspa_str_mv |
Algebraic identification Parameter estimation Payload estimation Derivative extended-state observer 2-DOF robotic manipulator engineering |
| topic |
Algebraic identification Parameter estimation Payload estimation Derivative extended-state observer 2-DOF robotic manipulator engineering identificación algebraica estimación de parámetros estimación de carga útil observador de estado extendido derivado manipulador robótico 2-dof ingeniería |
| topic_facet |
Algebraic identification Parameter estimation Payload estimation Derivative extended-state observer 2-DOF robotic manipulator engineering identificación algebraica estimación de parámetros estimación de carga útil observador de estado extendido derivado manipulador robótico 2-dof ingeniería |
| citationvolume |
13 |
| citationissue |
2 |
| citationedition |
Núm. 2 , Año 2023 : Dossier. XI congreso CIIMA |
| publisher |
Universidad de Bogotá Jorge Tadeo Lozano |
| ispartofjournal |
Revista Mutis |
| source |
https://revistas.utadeo.edu.co/index.php/mutis/article/view/Parameter-Payload-Identification-2-DOF-Robotic-Manipulator |
| language |
eng |
| format |
Article |
| rights |
https://creativecommons.org/licenses/by-nc-sa/4.0 Revista Mutis - 2023 Esta obra está bajo una licencia internacional Creative Commons Atribución-NoComercial-CompartirIgual 4.0. info:eu-repo/semantics/openAccess http://purl.org/coar/access_right/c_abf2 |
| references_eng |
Becedas, J., Trapero, J. R., Feliu, V., & Sira-Ramírez, H. (2009). Adaptive controller for single-link flexible manipulators based on algebraic identification and generalized proportional integral control. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, 39(3). https://doi.org/10.1109/TSMCB.2008.2008905 Chandan, S., Shah, J., Singh, T. P., Shaw, R. N., & Ghosh, A. (2021). Inverse kinematics analysis of 7-degree of freedom welding and drilling robot using artificial intelligence techniques. In Artificial Intelligence for Future Generation Robotics. https://doi.org/10.1016/B978-0-323-85498-6.00004-6 Coral-Enriquez, H., Medina-Camacho, S., & Caballero-Mateus, S. (2021). Modeling and Identification of a 5-DOF Robotic Manipulator Autonomous Bicycles View project Active Disturbance Rejection Control to Stabilize a Bicycle Using a Single-gimbal Control Moment Gyroscope View project. https://www.researchgate.net/publication/353206863 Cruz, G. L., Alazki, H., & Hernández, R. G. (2018). Super Twisting Control For Thermo’s Catalyst-5 Robotic Arm. 51(13). https://doi.org/10.1016/j.ifacol.2018.07.295 Eltayeb, A., Rahmat, M. F., Mohammed Eltoum, M. A., Sanhoury, I. M. H., & Basri, M. A. M. (2019). Adaptive sliding mode control design for the 2-DOF robot arm manipulators. Proceedings of the International Conference on Computer, Control, Electrical, and Electronics Engineering 2019, ICCCEEE 2019. https://doi.org/10.1109/ICCCEEE46830.2019.9071314 Ferreira, C. C. T., & de Oliveira Serra, G. L. (2012). An approach for fuzzy frequency response estimation of flexible robot arm from experimental data. 2012 IEEE International Conference on Industrial Technology, ICIT 2012, Proceedings. https://doi.org/10.1109/ICIT.2012.6209932 Ghanbari, M., & Abbasi, M. (2017). Identification Of Flexible Robot Arm System Using Extended Volterra Series By Kautz Orthogonal Functions. Grau, A., Indri, M., lo Bello, L., & Sauter, T. (2017). Industrial robotics in factory automation: From the early stage to the Internet of Things. Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society, 2017-January. https://doi.org/10.1109/IECON.2017.8217070 Guo, Q., Yu, T., & Jiang, D. (2015). Robust H positional control of 2-DOF robotic arm driven by electro-hydraulic servo system. ISA Transactions, 59. https://doi.org/10.1016/j.isatra.2015.09.014 Hashemi, S. M., & Werner, H. (2014). Parameter identification of a robot arm using separable least squares technique. 2009 European Control Conference, ECC 2009. https://doi.org/10.23919/ecc.2009.7074731 Huang, K., Xian, Y., Zhen, S., & Sun, H. (2021). Robust control design for a planar humanoid robot arm with high strength composite gear and experimental validation. Mechanical Systems and Signal Processing, 155. https://doi.org/10.1016/j.ymssp.2020.107442 Li, X., & Yu, W. (2011). A systematic tunning method of PID controller for robot manipulators. IEEE International Conference on Control and Automation, ICCA. https://doi.org/10.1109/ICCA.2011.6138081 Lin, F. (2007). Robust Control Design: An Optimal Control Approach. In Robust Control Design: An Optimal Control Approach. https://doi.org/10.1002/9780470059579 Liu, H. (2020). Robot Systems for Rail Transit Applications. In Robot Systems for Rail Transit Applications. https://doi.org/10.1016/B978-0-12-822968-2.01001-9 Sira-Ramírez, H., García-Rodríguez, C., Cortés-Romero, J., & Luviano-Juárez, A. (2014). Algebraic Identification and Estimation Methods in Feedback Control Systems. In Algebraic Identification and Estimation Methods in Feedback Control Systems (Vol. 9781118730607). https://doi.org/10.1002/9781118730591 |
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