Decoupling Identification and Physical Parameter Estimation for Serial Two-Link Two-Inertia System
Author:
Affiliation:
1. Department of Applied Physics and Physico-Informatics Faculty of Science and Technology, Keio University
2. Corporate R & D Center, Toshiba Corporation
Publisher
Institute of Electrical Engineers of Japan (IEE Japan)
Subject
Electrical and Electronic Engineering,Industrial and Manufacturing Engineering
Link
https://www.jstage.jst.go.jp/article/ieejias/128/5/128_5_669/_pdf
Reference10 articles.
1. (1) Y. Nishida, T. Nishimura, K. Honke, H. Nakagami, Y. Imaizumi, and N. Kimura: “Robust Control Method for Industrial Robot Manipulators with Flexible Joints—Application of State Observer and Two-Degree-of-Freedom Controller—”, J. RSJ, Vol. 12, No. 3, pp. 466-471 (1994-4) (in Japanese)
2. (2) Y. Kosaka and A. Shimada: “Robot Manipulator Control Considering Motors and Reduction Gears”, T. SICE, Vol. 41, No. 5, pp. 466-472 (2005-5) (in Japanese)
3. (3) M. C. Readman: “Flexible Joint Robots”, CRC Press (1994)
4. (5) I. Awaya, Y. Kato, Y. Ohta, I. Miyake, and M. Ito: “Parameter Identification Method for Two Inertia Resonant Systems by Use of Both Observer and FFT”, T. JSME, Ser. C, Vol. 60, No. 572, pp. 1175-1181 (1994-4) (in Japanese)
5. (6) S. Wakui and T. Mita: “Degrade of Identification Accuracy of Inertial Terms caused by Coupling Vibration and its Modification”, J. RSJ, Vol. 7, No. 3, pp. 195-198 (1989-6) (in Japanese)
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2. Vibration Suppression Control Using an Equivalent Rigid-Body Observer;IEEJ Journal of Industry Applications;2018-09-01
3. Vibration Suppression Control of Elastic-Joint Robot Arm Based on Designless Nonlinear State Observer;IEEJ Transactions on Industry Applications;2015
4. Vibration Suppression Control of a Serial Two-Link Two-Inertia System Based on Physical-Parameter Estimation;IEEJ Transactions on Industry Applications;2013
5. Decoupling Identification for Serial Two-Link Two-Inertia System;IEEJ Transactions on Industry Applications;2009
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