Modeling, full identification and control of the mitsubishi PA-10 robot arm

Nikolaos A. Bompos, Panagiotis Artemiadis, Apollon S. Oikonomopoulos, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

42 Citations (Scopus)

Abstract

This paper presents the modeling, identification and control of the 7 degrees of freedom (DoFs) Mitsubishi PA-10 robot arm. The backdrivability, high accuracy positioning capabilities and zero backlash afforded by its harmonic drive transmission, make the PA-10 ideal for precise manipulation tasks. However, the lack of any technical knowledge on the dynamic parameters of its links and the non linear characteristics of friction at its joints, make the development of an accurate dynamic model of the robot extremely challenging. The innovation of this research focuses on the development of the full dynamic model of the PA-10 robot arm, the development of a new non linear model for the friction at its joints, the estimation of the stiffness characteristics of its joints and finally the full identification of the dynamic parameters of the robot arm. The accuracy of the full dynamic model identified is proved by an end-effector trajectory tracking task using a model-based inverse dynamic controller.

Original languageEnglish (US)
Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
DOIs
StatePublished - 2007
Externally publishedYes
Event2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM - Zurich, Switzerland
Duration: Sep 4 2007Sep 7 2007

Other

Other2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
CountrySwitzerland
CityZurich
Period9/4/079/7/07

Fingerprint

Robots
Dynamic models
Friction
End effectors
Innovation
Trajectories
Stiffness
Controllers

Keywords

  • Dynamics
  • Robot friction
  • Robot parameter identification

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Bompos, N. A., Artemiadis, P., Oikonomopoulos, A. S., & Kyriakopoulos, K. J. (2007). Modeling, full identification and control of the mitsubishi PA-10 robot arm. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM [4412421] https://doi.org/10.1109/AIM.2007.4412421

Modeling, full identification and control of the mitsubishi PA-10 robot arm. / Bompos, Nikolaos A.; Artemiadis, Panagiotis; Oikonomopoulos, Apollon S.; Kyriakopoulos, Kostas J.

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2007. 4412421.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Bompos, NA, Artemiadis, P, Oikonomopoulos, AS & Kyriakopoulos, KJ 2007, Modeling, full identification and control of the mitsubishi PA-10 robot arm. in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM., 4412421, 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, Zurich, Switzerland, 9/4/07. https://doi.org/10.1109/AIM.2007.4412421
Bompos NA, Artemiadis P, Oikonomopoulos AS, Kyriakopoulos KJ. Modeling, full identification and control of the mitsubishi PA-10 robot arm. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2007. 4412421 https://doi.org/10.1109/AIM.2007.4412421
Bompos, Nikolaos A. ; Artemiadis, Panagiotis ; Oikonomopoulos, Apollon S. ; Kyriakopoulos, Kostas J. / Modeling, full identification and control of the mitsubishi PA-10 robot arm. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2007.
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