Parametric uncertain identification of a robotic system

L. Angel; J. Viola; C. Hernández

doi:10.1088/1757-899X/138/1/012008

Parametric uncertain identification of a robotic system

L. Angel, J. Viola, C. Hernández

Producción científica: Contribución a una revista › Ponencia publicada en las memorias del evento con ISSN › revisión exhaustiva

Resumen

This paper presents the parametric uncertainties identification of a robotic system of one degree of freedom. A MSC-ADAMS/MATLAB co-simulation model was built to simulate the uncertainties that affect the robotic system. For a desired trajectory, a set of dynamic models of the system was identified in presence of variations in the mass, length and friction of the system employing least squares method. Using the input-output linearization technique a linearized model plant was defined. Finally, the maximum multiplicative uncertainty of the system was modelled giving the controller desired design conditions to achieve a robust stability and performance of the closed loop system.

Idioma original	Inglés
Número de artículo	012008
Publicación	IOP Conference Series: Materials Science and Engineering
Volumen	138
N.º	1
DOI	https://doi.org/10.1088/1757-899X/138/1/012008
Estado	Publicada - 15 jul. 2016
Evento	2nd International congress of Mechanical Engineering and Agricultural Science, CIIMCA 2015 - Floridablanca, Colombia Duración: 7 oct. 2015 → 9 oct. 2015

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title = "Parametric uncertain identification of a robotic system",

abstract = "This paper presents the parametric uncertainties identification of a robotic system of one degree of freedom. A MSC-ADAMS/MATLAB co-simulation model was built to simulate the uncertainties that affect the robotic system. For a desired trajectory, a set of dynamic models of the system was identified in presence of variations in the mass, length and friction of the system employing least squares method. Using the input-output linearization technique a linearized model plant was defined. Finally, the maximum multiplicative uncertainty of the system was modelled giving the controller desired design conditions to achieve a robust stability and performance of the closed loop system.",

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AU - Viola, J.

AU - Hernández, C.

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N2 - This paper presents the parametric uncertainties identification of a robotic system of one degree of freedom. A MSC-ADAMS/MATLAB co-simulation model was built to simulate the uncertainties that affect the robotic system. For a desired trajectory, a set of dynamic models of the system was identified in presence of variations in the mass, length and friction of the system employing least squares method. Using the input-output linearization technique a linearized model plant was defined. Finally, the maximum multiplicative uncertainty of the system was modelled giving the controller desired design conditions to achieve a robust stability and performance of the closed loop system.

AB - This paper presents the parametric uncertainties identification of a robotic system of one degree of freedom. A MSC-ADAMS/MATLAB co-simulation model was built to simulate the uncertainties that affect the robotic system. For a desired trajectory, a set of dynamic models of the system was identified in presence of variations in the mass, length and friction of the system employing least squares method. Using the input-output linearization technique a linearized model plant was defined. Finally, the maximum multiplicative uncertainty of the system was modelled giving the controller desired design conditions to achieve a robust stability and performance of the closed loop system.

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M3 - Ponencia publicada en las memorias del evento con ISSN

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JO - IOP Conference Series: Materials Science and Engineering

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T2 - 2nd International congress of Mechanical Engineering and Agricultural Science, CIIMCA 2015

Y2 - 7 October 2015 through 9 October 2015

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Parametric uncertain identification of a robotic system

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