Closed-loop model identification of cooperative manipulators holding deformable objects

[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%.

[发布机构] Department of Mechatronics Engineering, International Islamic University Malaysia, Kuala Lumpur, Malaysia^1

[效力级别] 无线电电子学

[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