Description:
This work treats the problem of modeling and
identification of the structural damping of the flexible link of
a rigid-flexible manipulator. Besides dissipating energy due
to the joint friction, like in rigid robots, flexible robots also
dissipate energy due to structural damping that results in
the time amplitude decay of the flexible arms oscillations.
This behavior is traditionally tackled recurring to viscous,
fractional Voigt-Kelvin or hysteretic models. In this paper, for
the latter two approaches, numerical approximations are used
for their numerical implementation. Furthermore, a heuristic
method based on the joint and flexible arm time responses
is applied and compared with other methods, like recursive
least-squares, to identify the large set of parameters of a
flexible manipulator, including the inertial and joint friction
parameters.

The short video shows the planar manipulator which was identified in this work in motion.
It first shows the manipulator only under controlled joint motion, and then
under controlled joint motion and active structural damping through curvature
feedback to the joint controller.


Player Information: Windows Media Player


Contact Information:
Jorge M. Martins, Alexandre N. Paris and José Sá da Costa
{martins, aparis, sadacosta}@dem.ist.utl.pt
Instituto Superior Técnico - IDMEC
Technical University of Lisbon (TULisbon)
Portugal


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