TY - GEN
T1 - Identification of twin direct-drive motor system with consideration of wire rope tension
AU - Mitsantisuk, Chowarit
AU - Ohishi, Kiyoshi
AU - Urushihara, Shiro
AU - Katsura, Seiichiro
PY - 2009
Y1 - 2009
N2 - An adaptable stiffness of mechanical using wire rope tension control, called as a twin direct-drive motor system, has unique advantages in human-robot interaction system, when compared with conventional industrial robot. Since the wire rope is low friction and lightweight device, it is possible to achieve high-efficiency, high degree of reliability, and safety. In this paper, modeling and closed-loop identification of the twin direct-drive motor system with wire rope tension are considered. After the swept-frequency sine wave injection and output data collection are finished, the Box-jenkins model is employed to identify the frequency response. From the simulation and experimental results, the total stiffness of the twin direct-drive motor system and the bandwidth of mechanical system can be increased by changing wire rope tension. This feature may make the twin direct-drive motor system very useful to provide a safety and smooth interaction force during operation. Therefore, it is suitable to implement with the human-robot applications for example, arm movement training robot and motion guide robot system.
AB - An adaptable stiffness of mechanical using wire rope tension control, called as a twin direct-drive motor system, has unique advantages in human-robot interaction system, when compared with conventional industrial robot. Since the wire rope is low friction and lightweight device, it is possible to achieve high-efficiency, high degree of reliability, and safety. In this paper, modeling and closed-loop identification of the twin direct-drive motor system with wire rope tension are considered. After the swept-frequency sine wave injection and output data collection are finished, the Box-jenkins model is employed to identify the frequency response. From the simulation and experimental results, the total stiffness of the twin direct-drive motor system and the bandwidth of mechanical system can be increased by changing wire rope tension. This feature may make the twin direct-drive motor system very useful to provide a safety and smooth interaction force during operation. Therefore, it is suitable to implement with the human-robot applications for example, arm movement training robot and motion guide robot system.
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U2 - 10.1109/ICMECH.2009.4957219
DO - 10.1109/ICMECH.2009.4957219
M3 - Conference contribution
AN - SCOPUS:67650280661
SN - 9781424441952
T3 - IEEE 2009 International Conference on Mechatronics, ICM 2009
BT - IEEE 2009 International Conference on Mechatronics, ICM 2009
T2 - IEEE 2009 International Conference on Mechatronics, ICM 2009
Y2 - 14 April 2009 through 17 April 2009
ER -