Friction-Identification of Harmonic Drive Joints Based on the MCMC Method

Although harmonic drives have been adopted by all sorts of industrial environments, the mathematical expression of its dynamics has not yet been fully solved. An intelligent algorithm based on data acquisition is used to analyze the kinematic parameter of the flexible manipulator offline to improve...

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Bibliographic Details
Published inIEEE access Vol. 10; pp. 125893 - 125907
Main Authors Wang, Qi, Wu, Huapeng, Cheng, Yong, Pan, Hongtao, Yang, Yang, Qin, Guodong
Format Journal Article
LanguageEnglish
Published Piscataway IEEE 2022
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Accuracy
Aerodynamics
Algorithms
Data acquisition
Flexible manipulators
Friction
Harmonic analysis
Harmonic drives
Kinematics
Load modeling
Manipulator dynamics
Markov chains
Mathematical models
MCMC method
Parameter estimation
Parameter sensitivity
Parameter uncertainty
Robots
Torque
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Summary:Although harmonic drives have been adopted by all sorts of industrial environments, the mathematical expression of its dynamics has not yet been fully solved. An intelligent algorithm based on data acquisition is used to analyze the kinematic parameter of the flexible manipulator offline to improve the accuracy of predicting output torque. In this study, a method is proposed to capture the dynamics of harmonic drive systems, such as temperature, speed, and load. A friction model is proposed, and the model parameters are estimated by MCMC (Markov chain Monte Carlo) approximation. The accuracy of the estimated parameters in different conditions is calculated, and the sensitivity to parameter uncertainty of the proposed model is considered.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2022.3226036