Closed-loop model identification of cooperative manipulators holding deformable objects

6th International Conference on Mechatronics

机械制造;无线电电子学

Alkathiri, A.A.^1 ; Akmeliawati, R.^1 ; Azlan, N.Z.^1

Department of Mechatronics Engineering, International Islamic University Malaysia, Kuala Lumpur, Malaysia^1

关键词: Closed loop models;    Cooperative manipulator;    Deformable object;    Input and outputs;    Master slave principles;    Model based control design;    Position and force control;    Residual analysis;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/260/1/012035/pdf
DOI  :  10.1088/1757-899X/260/1/012035

来源: IOP

【 摘 要 】

This paper presents system identification to obtain the closed-loop models of a couple of cooperative manipulators in a system, which function to hold deformable objects. The system works using the master-slave principle. In other words, one of the manipulators is position-controlled through encoder feedback, while a force sensor gives feedback to the other force-controlled manipulator. Using the closed-loop input and output data, the closed-loop models, which are useful for model-based control design, are estimated. The criteria for model validation are a 95% fit between the measured and simulated output of the estimated models and residual analysis. The results show that for both position and force control respectively, the fits are 95.73% and 95.88%.