Identification of Two Degree of Freedom Robot Arm’s Joints’ Time-Varying Stiffness

Abstract:

This paper is concerned with the identification problem of two degree of freedom robot arm’s joints’ time-varying stiffness. The dynamic equation of two degrees of freedom robot arm can be obtained by using analytical mechanics method. Then by choosing limited memory least square method, time-varying stiffness can be identified. Finally, the calculative stiffness is compared to the “real” stiffness which is simulated in ADAMS. The whole process shows that the robot arm’s dynamic model and the method of identification are both effective.

• Periodical: Applied Mechanics and Materials (Volumes 241-244)
• Pages: 1880-1884
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.241-244.1880
• Online since: December 2012
• Authors: Rui Xu, Qiang Chen, Guo Lai Yang
• Keywords: Identification, Limited Memory Least Square Method, Robot Arm, Time-Varying Stiffness

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