Closed-loop model identification of cooperative manipulators holding deformable objects
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 enco...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English English |
| Published: |
IOP Publishing
2017
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/59339/ http://irep.iium.edu.my/59339/ http://irep.iium.edu.my/59339/ http://irep.iium.edu.my/59339/7/59339-Closed-loop%20model.pdf http://irep.iium.edu.my/59339/13/Closed-loop%20model%20identification%20of%20cooperative%20manipulators%20holding%20deformable%20objects.pdf |
| Summary: | 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%. |
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