Parameter identification and controller design for flexible joint of Chinese space manipulator

Tian Zou; Fenglei Ni; Chuangqiang Guo; Weisi Ma; Hong Liu

doi:10.1109/ROBIO.2014.7090321

Parameter identification and controller design for flexible joint of Chinese space manipulator

Tian Zou
, Fenglei Ni^*
, Chuangqiang Guo
, Weisi Ma
, Hong Liu

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology
DJI Innovation Technology Co., Ltd.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

9 Scopus citations

Abstract

Manipulators with flexible joints are widely used as the space manipulators, whereas the elasticity of flexible joint leads to poor dynamic performance. To solve the influence of elasticity, the paper is to establish the model of flexible joint, identify the parameters, and design the controller. The off-line methods are applied to identify the current coefficient and the parameters of flexible joint model. The controller is designed based on the theory of state feedback and pole assignment. To make the calculation of controller gains easier, more precise and more intuitive, the nominal stiffness is introduced. The simulation results and the experimental results indicate that the proposed controller can improve the dynamic performance and reduce the vibration of the manipulator compared with the traditional PD controller.

Original language	English
Title of host publication	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	142-147
Number of pages	6
ISBN (Electronic)	9781479973965
DOIs	https://doi.org/10.1109/ROBIO.2014.7090321
State	Published - 20 Apr 2014
Event	2014 IEEE International Conference on Robotics and Biomimetics, ROBIO 2014 - Bali, Indonesia Duration: 5 Dec 2014 → 10 Dec 2014

Publication series

Name	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

Conference

Conference	2014 IEEE International Conference on Robotics and Biomimetics, ROBIO 2014
Country/Territory	Indonesia
City	Bali
Period	5/12/14 → 10/12/14

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10.1109/ROBIO.2014.7090321

Cite this

Zou, T., Ni, F., Guo, C., Ma, W., & Liu, H. (2014). Parameter identification and controller design for flexible joint of Chinese space manipulator. In 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 (pp. 142-147). Article 7090321 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2014.7090321

Zou, Tian ; Ni, Fenglei ; Guo, Chuangqiang et al. / Parameter identification and controller design for flexible joint of Chinese space manipulator. 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 142-147 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014).

@inproceedings{ca022e7a73764f6e975f87b317a19c25,

title = "Parameter identification and controller design for flexible joint of Chinese space manipulator",

abstract = "Manipulators with flexible joints are widely used as the space manipulators, whereas the elasticity of flexible joint leads to poor dynamic performance. To solve the influence of elasticity, the paper is to establish the model of flexible joint, identify the parameters, and design the controller. The off-line methods are applied to identify the current coefficient and the parameters of flexible joint model. The controller is designed based on the theory of state feedback and pole assignment. To make the calculation of controller gains easier, more precise and more intuitive, the nominal stiffness is introduced. The simulation results and the experimental results indicate that the proposed controller can improve the dynamic performance and reduce the vibration of the manipulator compared with the traditional PD controller.",

author = "Tian Zou and Fenglei Ni and Chuangqiang Guo and Weisi Ma and Hong Liu",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE International Conference on Robotics and Biomimetics, ROBIO 2014 ; Conference date: 05-12-2014 Through 10-12-2014",

year = "2014",

month = apr,

day = "20",

doi = "10.1109/ROBIO.2014.7090321",

language = "英语",

series = "2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "142--147",

booktitle = "2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014",

address = "美国",

}

Zou, T, Ni, F , Guo, C, Ma, W & Liu, H 2014, Parameter identification and controller design for flexible joint of Chinese space manipulator. in 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014., 7090321, 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014, Institute of Electrical and Electronics Engineers Inc., pp. 142-147, 2014 IEEE International Conference on Robotics and Biomimetics, ROBIO 2014, Bali, Indonesia, 5/12/14. https://doi.org/10.1109/ROBIO.2014.7090321

Parameter identification and controller design for flexible joint of Chinese space manipulator. / Zou, Tian; Ni, Fenglei ; Guo, Chuangqiang et al.
2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 142-147 7090321 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Parameter identification and controller design for flexible joint of Chinese space manipulator

AU - Zou, Tian

AU - Ni, Fenglei

AU - Guo, Chuangqiang

AU - Ma, Weisi

AU - Liu, Hong

PY - 2014/4/20

Y1 - 2014/4/20

N2 - Manipulators with flexible joints are widely used as the space manipulators, whereas the elasticity of flexible joint leads to poor dynamic performance. To solve the influence of elasticity, the paper is to establish the model of flexible joint, identify the parameters, and design the controller. The off-line methods are applied to identify the current coefficient and the parameters of flexible joint model. The controller is designed based on the theory of state feedback and pole assignment. To make the calculation of controller gains easier, more precise and more intuitive, the nominal stiffness is introduced. The simulation results and the experimental results indicate that the proposed controller can improve the dynamic performance and reduce the vibration of the manipulator compared with the traditional PD controller.

AB - Manipulators with flexible joints are widely used as the space manipulators, whereas the elasticity of flexible joint leads to poor dynamic performance. To solve the influence of elasticity, the paper is to establish the model of flexible joint, identify the parameters, and design the controller. The off-line methods are applied to identify the current coefficient and the parameters of flexible joint model. The controller is designed based on the theory of state feedback and pole assignment. To make the calculation of controller gains easier, more precise and more intuitive, the nominal stiffness is introduced. The simulation results and the experimental results indicate that the proposed controller can improve the dynamic performance and reduce the vibration of the manipulator compared with the traditional PD controller.

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U2 - 10.1109/ROBIO.2014.7090321

DO - 10.1109/ROBIO.2014.7090321

M3 - 会议稿件

AN - SCOPUS:84949927279

T3 - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

SP - 142

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BT - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2014 IEEE International Conference on Robotics and Biomimetics, ROBIO 2014

Y2 - 5 December 2014 through 10 December 2014

ER -

Zou T, Ni F , Guo C, Ma W, Liu H. Parameter identification and controller design for flexible joint of Chinese space manipulator. In 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 142-147. 7090321. (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014). doi: 10.1109/ROBIO.2014.7090321

Parameter identification and controller design for flexible joint of Chinese space manipulator

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