Parametric uncertain identification of a robotic system

2nd International Congress of Mechanical Engineering and Agricultural Science

机械制造;农业科学

Angel, L.^1 ; Viola, J.^1 ; Hernández, C.^1

Universidad Pontificia Bolivariana, Autopista Km7 via a Piedecuesta, Bucaramanga, Colombia^1

关键词: Degree of freedom;    Desired trajectories;    Input output linearization;    Least squares methods;    Linearized models;    Multiplicative uncertainty;    Parametric uncertainties;    Robust stability and performance;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/138/1/012008/pdf
DOI  :  10.1088/1757-899X/138/1/012008

学科分类：农业科学（综合）

来源: IOP

【 摘 要 】

This paper presents the parametric uncertainties identification of a robotic system of one degree of freedom. A MSC-ADAMS/MATLAB co-simulation model was built to simulate the uncertainties that affect the robotic system. For a desired trajectory, a set of dynamic models of the system was identified in presence of variations in the mass, length and friction of the system employing least squares method. Using the input-output linearization technique a linearized model plant was defined. Finally, the maximum multiplicative uncertainty of the system was modelled giving the controller desired design conditions to achieve a robust stability and performance of the closed loop system.