Identification and Characteristics of Parallel Actuation Robot’s Leg Configuration Using Hammerstein-Wiener Approach

Identification and Characteristics of Parallel Actuation Robot’s Leg Configuration Using Hammerstein-Wiener Approach

This paper presents the modeling of a leg of Quadruped with Parallel Actuation Leg (QPAL) robot. QPAL leg designed with 3 Degree of Freedom (DOF) configuration with indirect or parallel actuation for each joint mimicking a muscle of life form creature such as insect and bugs classified into shoulder...

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Main Authors: Guni, Geogia, Irawan, Addie
Format: Article
Language:English
Published: Penerbit UMP 2016
Subjects:
Q Science (General)
TJ Mechanical engineering and machinery
Online Access:http://umpir.ump.edu.my/id/eprint/11713/
http://umpir.ump.edu.my/id/eprint/11713/
http://umpir.ump.edu.my/id/eprint/11713/1/JEECIEV1N10.pdf
id ump-11713
recordtype eprints
spelling ump-117132018-04-18T01:51:35Z http://umpir.ump.edu.my/id/eprint/11713/ Identification and Characteristics of Parallel Actuation Robot’s Leg Configuration Using Hammerstein-Wiener Approach Guni, Geogia Irawan, Addie Q Science (General) TJ Mechanical engineering and machinery This paper presents the modeling of a leg of Quadruped with Parallel Actuation Leg (QPAL) robot. QPAL leg designed with 3 Degree of Freedom (DOF) configuration with indirect or parallel actuation for each joint mimicking a muscle of life form creature such as insect and bugs classified into shoulder, thigh and shank parts. Indirect actuation configuration on its leg makes this robot has different perspective on joint rotational drive and control. Therefore, this project has taken initiative to identify and modeling this indirect actuation joint by using system identification (SI) in order to obtain a mathematical model of each joint of QPAL robot’s leg. A system identification approach was implemented by employing a Hammerstein-Wiener (HW) model as model structure. The state-space model and the transfer function are designed and generated using Hammerstein-wiener modeling procedures start with experiment setup and data collection from experiment. Continue with data processing, selecting model structure, estimation and validation of the model using system SI toolbox in MATLAB®. The best percentage fits for Joint 1, Joint 2 and Joint 3 are 71.06%, 79.14% and 71.35% respectively, meaning that the estimated model is almost tracking the real output data from the experiments. The model for Joint 1 is ideally acceptable and highly applicable since the correlation curves lie between the confidence interval. While the model for Joint 2 and Joint 3 are considered well and acceptable as the correlation curves are almost lies between the confidence interval. The balances 28.94%, 20.86%, and 28.65% are losses due to nonlinear factor such as friction, backlash, torque, and external disturbance. Penerbit UMP 2016-01-04 Article PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/11713/1/JEECIEV1N10.pdf Guni, Geogia and Irawan, Addie (2016) Identification and Characteristics of Parallel Actuation Robot’s Leg Configuration Using Hammerstein-Wiener Approach. Journal of Electrical, Electronics, Control and Instrumentations Engineering (JEECIE), 1 (10). pp. 48-62. ISSN 2462-2303 http://apps-cfm.ump.edu.my/research/jeecie/manuscript/267/JEECIEV1N10.pdf
repository_type Digital Repository
institution_category Local University
institution Universiti Malaysia Pahang
building UMP Institutional Repository
collection Online Access
language English
topic Q Science (General)
TJ Mechanical engineering and machinery
spellingShingle Q Science (General)
TJ Mechanical engineering and machinery
Guni, Geogia
Irawan, Addie
Identification and Characteristics of Parallel Actuation Robot’s Leg Configuration Using Hammerstein-Wiener Approach
description This paper presents the modeling of a leg of Quadruped with Parallel Actuation Leg (QPAL) robot. QPAL leg designed with 3 Degree of Freedom (DOF) configuration with indirect or parallel actuation for each joint mimicking a muscle of life form creature such as insect and bugs classified into shoulder, thigh and shank parts. Indirect actuation configuration on its leg makes this robot has different perspective on joint rotational drive and control. Therefore, this project has taken initiative to identify and modeling this indirect actuation joint by using system identification (SI) in order to obtain a mathematical model of each joint of QPAL robot’s leg. A system identification approach was implemented by employing a Hammerstein-Wiener (HW) model as model structure. The state-space model and the transfer function are designed and generated using Hammerstein-wiener modeling procedures start with experiment setup and data collection from experiment. Continue with data processing, selecting model structure, estimation and validation of the model using system SI toolbox in MATLAB®. The best percentage fits for Joint 1, Joint 2 and Joint 3 are 71.06%, 79.14% and 71.35% respectively, meaning that the estimated model is almost tracking the real output data from the experiments. The model for Joint 1 is ideally acceptable and highly applicable since the correlation curves lie between the confidence interval. While the model for Joint 2 and Joint 3 are considered well and acceptable as the correlation curves are almost lies between the confidence interval. The balances 28.94%, 20.86%, and 28.65% are losses due to nonlinear factor such as friction, backlash, torque, and external disturbance.
format Article
author Guni, Geogia
Irawan, Addie
author_facet Guni, Geogia
Irawan, Addie
author_sort Guni, Geogia
title Identification and Characteristics of Parallel Actuation Robot’s Leg Configuration Using Hammerstein-Wiener Approach
title_short Identification and Characteristics of Parallel Actuation Robot’s Leg Configuration Using Hammerstein-Wiener Approach
title_full Identification and Characteristics of Parallel Actuation Robot’s Leg Configuration Using Hammerstein-Wiener Approach
title_fullStr Identification and Characteristics of Parallel Actuation Robot’s Leg Configuration Using Hammerstein-Wiener Approach
title_full_unstemmed Identification and Characteristics of Parallel Actuation Robot’s Leg Configuration Using Hammerstein-Wiener Approach
title_sort identification and characteristics of parallel actuation robot’s leg configuration using hammerstein-wiener approach
publisher Penerbit UMP
publishDate 2016
url http://umpir.ump.edu.my/id/eprint/11713/
http://umpir.ump.edu.my/id/eprint/11713/
http://umpir.ump.edu.my/id/eprint/11713/1/JEECIEV1N10.pdf
first_indexed 2023-09-18T22:12:39Z
last_indexed 2023-09-18T22:12:39Z
_version_ 1777415130437386240

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