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Dynamics superposition method for separating torque components of robot manipulators using sinusoidal trajectories

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Abstract

In this study, we propose a technical method — the so-called dynamic superposition method — for separation of dynamic terms of robot manipulators. We lay over a set of dynamic responses from sinusoidal joint trajectories of different cyclic frequencies, so as to disassemble pure inertial, gravitational and/or frictional torques from the full dynamics forces. The benefits are: first to help us identify dynamic parameters in a simpler sequential manner with better reliability, and second to enable us to understand the in-depth dynamic nature of a specific robot system through dissection. Experimental results confirm the effectiveness of the proposed method.

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Authors and Affiliations

  1. Dept. of Control and Instrumentation Engineering, Korea University, 2511 Sejong-ro, Sejong-City, 30019, Korea

    Youngwoo Choi, Dawoon Jung & Joono Cheong

  2. Robotics and Mechatronics Division, Korea Institute of Machinery and Materials (KIMM), 156 Gajeongbuk-ro, Daejeon, 34103, Korea

    Hyun Min Do & Jin-Ho Kyung

Authors
  1. Youngwoo Choi
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  2. Dawoon Jung
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  3. Joono Cheong
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  4. Hyun Min Do
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  5. Jin-Ho Kyung
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Corresponding authors

Correspondence to Joono Cheong or Jin-Ho Kyung.

Additional information

Recommended by Associate Editor Kyoungchul Kong

Youngwoo Choi received his bachelor’s degree from Catholic University of Daegu in 2015 and is currently studying his master’s degree at Korea University. His research interests are kinematic/ dynamic analysis.

Dawoon Jung received his B.S. degree from Korea University in 2014. From 2014, he is on Master. Ph.D. joint Course at Korea University. His research interests are kinematic/dynamic analysis and dynamic parameter identification of industrial robot.

Joono Cheong received B.S., M.S. and Ph.D. from Pohang University of Science and Technology (POSTECH) in 1995, 1997 and 2003, respectively. In 2003, he was a Researcher with the Institute of Precision Machine and Design, Seoul National University, Seoul. From 2003 to 2005, he was a Postdoc Researcher of the Research Laboratory of Electronics at Massachusetts Institute of Technology, Cambridge, MA. Since 2005, he has been with the Department of Control and Instrumentation Engineering, Korea University, Sejong, where he is current a Professor. He is the Director of the Laboratory for Advanced Robotics at Korea University. His research interests are robotic manipulation, grasping, and mechanical systems control.

Hyunmin Do received his B.S. and M.S. and Ph.D. degrees in the School of Electrical Engineering from Seoul National University, Seoul, Korea, in 1997, 1999, and 2004, respectively. From 2004 to 2007, he was with the Hyundai Mobis and the Hyundai Motor Company, Korea, where he was a Senior Research Engineer. From 2007 to 2010, he was with the National Institute of Advanced Industrial Science and Technology (AIST), Japan, where he was a Postdoctoral Research Fellow. In 2010, he joined the Korea Institute of Machinery and Materials (KIMM), where he is a Principal Researcher of Department of Robotics and Mechatronics. His research interests are intelligent control of robotic system, robot safety and adaptive and learning control.

Jin-Ho Kyung received his B.S. and M.S. degrees in Mechanical Engineering from Korea Aerospace University and KAIST in 1985 and 1988, respectively. He was awarded his Ph.D. degree from KAIST in 2003. Dr. Kyung is currently a Principal Researcher at Dept. of Robotics & Intelligent Machinery at Korea Institute of Machinery and Materials, and he has served as a Head of Robot team. Dr. Kyung’s research interests include the design and control of dual arm systems, and manipulation technology for human-robot cooperation.

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Choi, Y., Jung, D., Cheong, J. et al. Dynamics superposition method for separating torque components of robot manipulators using sinusoidal trajectories. J Mech Sci Technol 31, 5505–5513 (2017). https://doi.org/10.1007/s12206-017-1045-9

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  • DOI: https://doi.org/10.1007/s12206-017-1045-9

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