Grey-box modeling of elastic-joint robot with harmonic drive and timing belt

Junji Oaki, Shuichi Adachi

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

5 Citations (Scopus)


We previously proposed a multivariable identification method, called the "decoupling identification method", for a horizontal two-link robot arm with elastic harmonic drive gears. This paper extends the identification method to a vertical two-link robot arm with the harmonic drive gears and timing belts, under gravity. The mechanical resonance effects of the timing belts in the high-frequency range are decimated in advance, to apply the decoupling method. The characteristics of the timing belts are independently estimated as perturbations in the high-frequency range for robust controller design. The effectiveness of the extended identification method was experimentally verified using the vertical two-link robot with the elastic elements.

Original languageEnglish
Title of host publicationSYSID 2012 - 16th IFAC Symposium on System Identification, Final Program
PublisherIFAC Secretariat
Number of pages6
EditionPART 1
ISBN (Print)9783902823069
Publication statusPublished - 2012
EventUniversite Libre de Bruxelles - Bruxelles, Belgium
Duration: 2012 Jul 112012 Jul 13

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
ISSN (Print)1474-6670


OtherUniversite Libre de Bruxelles


  • Decimation
  • Frequency response
  • Grey-box modeling
  • Mechanical resonance
  • Multivariable systems
  • Nonlinear systems
  • Perturbation
  • Robot arms
  • Two-inertia systems

ASJC Scopus subject areas

  • Control and Systems Engineering


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