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In this paper, a novel robust adaptive controller is proposed to simultaneously cope with the unknown nonlinear backlash, friction and dynamic uncertainties in the 3-DOF robotic head system. Inverse backlash compensation with on-line backlash parameter estimation and model-based friction compensation with off-line Stribeck friction identification are incorporated into this robust adaptive scheme....
In order to achieve large tolerance capture and high stiffness connection for space payload operations, a Chinese large-scale space end-effector (EER) was developed. Friction is a kind of strong nonlinear factor that severely degrades performance of EER. To predict the friction amplitude and compensate the dynamic error, the friction model based Generalized Maxwell-Slip model (GMS) is built. In order...
This paper proposes the design and development of an integrated serial elastic actuator (SEA) which is used as the elbow joint in the soft humanoid arm. First, requirements of SEA are illustrated. And six different types of elastic elements (e.g. the discoid element, the cylindrical) are analyzed using the design of experiment (DOE) method. And then, a discoid elastic element with larger flexibility...
A highly integrated joint controller using in a humanoid robot arm has been developed in the paper. The joint controller is highly integrated with position sensors — the hall sensors, the magnetic sensor and the photoelectrical sensor, the torque sensors, the temperature sensor and so on. Besides, it can control and drive the motor in PWM and SVPWM modes. What is more, the joint controller has been...
In this paper, an improved algorithm to measure Chinapsilas EMU spacesuit joint damping parameters for the old passive robot system is presented. The measuring principle is based on robot kinematics and dynamics. Firstly, a kinematic model of the passive robot and the EMU spacesuitpsilas arm is built according to the special mechanical structure. Secondly, improved methods of solving the inverse kinematics...
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