@inproceedings{87dc4a0861e54d9593f05545c25c88cf,
title = "Grey-box modeling of elastic-joint robot with harmonic drive and timing belt",
abstract = "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.",
keywords = "Decimation, Frequency response, Grey-box modeling, Mechanical resonance, Multivariable systems, Nonlinear systems, Perturbation, Robot arms, Two-inertia systems",
author = "Junji Oaki and Shuichi Adachi",
note = "Copyright: Copyright 2021 Elsevier B.V., All rights reserved.; Universite Libre de Bruxelles ; Conference date: 11-07-2012 Through 13-07-2012",
year = "2012",
doi = "10.3182/20120711-3-BE-2027.00168",
language = "English",
isbn = "9783902823069",
series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
publisher = "IFAC Secretariat",
number = "PART 1",
pages = "1401--1406",
booktitle = "SYSID 2012 - 16th IFAC Symposium on System Identification, Final Program",
edition = "PART 1",
}