Advances in Research of Dynamic Modeling of Joints with Harmonic Drives for Space Manipulators

Abstract:

Article Preview

Space robotic systems are expected to play an increasingly important role in future space activities. With continuous growth of demands of control precision and robustness, researches of complex dynamic characteristics for robot joints become the key problem for space manipulators design. In this paper, the main research achievements on dynamics modeling for joints with harmonic drives are reviewed, and future studies are recommended. Firstly, we summarize the application status of joints with harmonic drives in space robotic systems. Secondly, dynamic characteristics of joint in space environment are discussed. Then, the advances in joint modeling, including compliance, transmission friction and hysteresis, are introduced. Moreover, identification methods and relevant research works are reviewed. Finally, the future research trends are forecasted.

Info:

Periodical:

Edited by:

Katsuyuki Kida

Pages:

767-770

DOI:

10.4028/www.scientific.net/AMM.365-366.767

Citation:

N. Z. Wei et al., "Advances in Research of Dynamic Modeling of Joints with Harmonic Drives for Space Manipulators", Applied Mechanics and Materials, Vols. 365-366, pp. 767-770, 2013

Online since:

August 2013

Export:

Price:

$38.00

[1] G. Gibbs, S. Sachdev, Canada and the international space station program: Overview and status, Acta Astronautica 51 (2002) 591-600.

DOI: 10.1016/s0094-5765(02)00077-2

[2] A. Rusconi, P. Magnani, DEXARM engineering model design, development and testing, 60th International Astronautical Congress 2009, Daejeon, Korea.

[3] K. Landzettel, C. Preusche, A. Albu-Schaffer, D. Reintsema, B. Rebele, G. Hirzinger, Robotic On-Orbit Servicing - DLR's Experience and Perspective, In Proceedings of the 2006 IEEE/RSJ, International Conference on Intelligent Robots and Systems 2006, Beijing, China.

DOI: 10.1109/iros.2006.282164

[4] T. Iwata, Current Status of Space Robotics Activities in Asia, In Proceeding of the 7th International Symposium on Artificial Intelligence, Robotics and Automation in Space 2003, NARA, Japan.

[5] K. J. Van Brink, C. Carstens, Gearbox for space robots, In Proceedings of 6th European Space Mechanisms & Tribology Symposium 1995, Zürich, Switzerland.

[6] P. K. Nguyen, R. Ravindran, R. Carr, Structural flexibility of the shuttle remote manipulator system mechanical arm, In Proceeding of Guidance and Control Conference 1982, San Diego, USA.

DOI: 10.2514/6.1982-1536

[7] T. D. Tuttle, Understanding and modeling the behavior of a harmonic drive gear transmission, MIT Artificial Intelligence Laboratory, (1992).

[8] Q. Huang, D. Zhang, Y. J. Dong, Modeling and evaluation of the joints mechanical flexibility of a humanoid robot, In Proceedings of the 5th World Congress on Intelligent Control and Automation 2004, Hangzhou, China.

[9] W. Seyfferth, A. J. Maghzal, J. Angeles, Nonlinear modeling and parameter identification of harmonic drive robotic transmissions, In Proceedings of IEEE International Conference on Robotics and Automation 1995, Nagoya, Japan.

DOI: 10.1109/robot.1995.525714

[10] H. D. Taghirad, P. R. Bélanger, A. Helmy, An experimental study on harmonic drives, Technical Report Submitted to International Submarine Engineering Ltd, (1996).

[11] K. J. Astrom, C. Canudas-de-Wit, Revisiting the LuGre friction model, IEEE Control Systems Magazine, 28 (2008) 101-114.

DOI: 10.1109/mcs.2008.929425

[12] F. Al-Bender, V. Lampaert, J. Swevers, The generalized Maxwellslip model: A novel model for friction simulation and compensation, IEEE Transactions on Automatic Control, 50 (2005) 1883- 1887.

DOI: 10.1109/tac.2005.858676

[13] O. Fumio, Evaluation of a rigid body model for a scara type robot with harmonic drive transmissions, In Proceedings of the IEEE/ RSJ International Conference on Intelligent Robots and Systems 1993, Yokohama, Japan.

DOI: 10.1109/iros.1993.583163

[14] A. Albu-Schäffer, G. Hirzinger, State feedback controller for flexible joint robots: a globally stable approach implemented on DLR's light-weight robots, In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems 2000, Takamatsu, Japan.

DOI: 10.1109/iros.2000.893164

[15] J. Hauschild, Control of a flexible link robotic manipulator in zero gravity conditions, A report presented to the University of Waterloo in fulfillment of the requirements for GENE 503, (2003).

[16] G. Ferretti, G. Magnani, P. Porrati, G. Rizzi, P. Rocco, A. Rusconi, Real-Time Simulation of a Space Robotic Arm, In Workshop on robot simulators at the IEEE/RSJ International Conference on Intelligent RObots and Systems 2008, Nice, France.

In order to see related information, you need to Login.