Closed-loop model identification of cooperative manipulators holding deformable objects

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...

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Main Authors: Alkathiri, A A, Akmeliawati, Rini, Zainul Azlan, Norsinnira
Format: Conference or Workshop Item
Language:English
English
Published: IOP Publishing 2017
Subjects:
TJ212 Control engineering
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
id iium-59339
recordtype eprints
spelling iium-593392018-04-02T01:58:35Z http://irep.iium.edu.my/59339/ Closed-loop model identification of cooperative manipulators holding deformable objects Alkathiri, A A Akmeliawati, Rini Zainul Azlan, Norsinnira TJ212 Control engineering 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%. IOP Publishing 2017-11-07 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/59339/7/59339-Closed-loop%20model.pdf application/pdf en http://irep.iium.edu.my/59339/13/Closed-loop%20model%20identification%20of%20cooperative%20manipulators%20holding%20deformable%20objects.pdf Alkathiri, A A and Akmeliawati, Rini and Zainul Azlan, Norsinnira (2017) Closed-loop model identification of cooperative manipulators holding deformable objects. In: 6th International Conference on Mechatronics - ICOM'17, 8-9 Aug 2017, Kuala Lumpur. http://iopscience.iop.org/article/10.1088/1757-899X/260/1/012035/pdf 10.1088/1757-899X/260/1/012035
repository_type Digital Repository
institution_category Local University
institution International Islamic University Malaysia
building IIUM Repository
collection Online Access
language English
English
topic TJ212 Control engineering
spellingShingle TJ212 Control engineering
Alkathiri, A A
Akmeliawati, Rini
Zainul Azlan, Norsinnira
Closed-loop model identification of cooperative manipulators holding deformable objects
description 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%.
format Conference or Workshop Item
author Alkathiri, A A
Akmeliawati, Rini
Zainul Azlan, Norsinnira
author_facet Alkathiri, A A
Akmeliawati, Rini
Zainul Azlan, Norsinnira
author_sort Alkathiri, A A
title Closed-loop model identification of cooperative manipulators holding deformable objects
title_short Closed-loop model identification of cooperative manipulators holding deformable objects
title_full Closed-loop model identification of cooperative manipulators holding deformable objects
title_fullStr Closed-loop model identification of cooperative manipulators holding deformable objects
title_full_unstemmed Closed-loop model identification of cooperative manipulators holding deformable objects
title_sort closed-loop model identification of cooperative manipulators holding deformable objects
publisher IOP Publishing
publishDate 2017
url 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
first_indexed 2023-09-18T21:24:05Z
last_indexed 2023-09-18T21:24:05Z
_version_ 1777412074624778240

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