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An Analysis on the Modeling Accuracy of Industrial Manipulators with Inherent Joint Elasticity

Subburaman, Rajesh and D'Imperio, Mariapaola and Lee, Jinoh and Cannella, Ferdinando (2021) An Analysis on the Modeling Accuracy of Industrial Manipulators with Inherent Joint Elasticity. In: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021, pp. 8223-8230. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 27 Sept - 1 Oct 2021, Prague, Czech Republic, Online. doi: 10.1109/IROS51168.2021.9636291. ISBN 978-166541714-3. ISSN 2153-0858.

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Abstract

High precision industrial applications call for equally precise functioning of industrial manipulators, which in turn requires accurate modeling of the manipulators. This paper carries out a detailed study on the modeling of industrial manipulators with elastic joints to improve their accuracy. In particular, the effect of adopting a simple harmonic drive (HD) model and ignoring a dynamic effect called low inertia coupling between the actuators and links on the model accuracy has been analyzed from a parameter estimation perspective. Since the aforementioned model characteristics have been generally ignored for high gear reduction ratios, this study is carried out with five different reduction ratios ranging from low to high, where three different models of a three-joints elastic manipulator are considered. The accuracy of the models is compared using the torque performance metrics of a predefined joint motion of the robot. Furthermore, the impact of the models with different accuracy is assessed by carrying out a state-of-the-art dynamic parameter estimation, and the resulting errors are compared to ascertain the merits of adopting a detailed elastic dynamic model of a manipulator.

Item URL in elib:https://elib.dlr.de/147150/
Document Type:Conference or Workshop Item (Speech)
Title:An Analysis on the Modeling Accuracy of Industrial Manipulators with Inherent Joint Elasticity
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Subburaman, RajeshIstituto Italiano di TecnologiaUNSPECIFIEDUNSPECIFIED
D'Imperio, MariapaolaIstituto Italiano di TecnologiaUNSPECIFIEDUNSPECIFIED
Lee, JinohUNSPECIFIEDhttps://orcid.org/0000-0002-4901-7095UNSPECIFIED
Cannella, FerdinandoIstituto Italiano di TecnologiaUNSPECIFIEDUNSPECIFIED
Date:2021
Journal or Publication Title:2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI:10.1109/IROS51168.2021.9636291
Page Range:pp. 8223-8230
ISSN:2153-0858
ISBN:978-166541714-3
Status:Published
Keywords:robot manipulator, modeling, joint elasticity
Event Title:2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location:Prague, Czech Republic, Online
Event Type:international Conference
Event Dates:27 Sept - 1 Oct 2021
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Walking robot/locomotion [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Lee, Dr. Jinoh
Deposited On:10 Dec 2021 00:08
Last Modified:01 Jan 2024 03:00

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