| Autor: |
Qi Wang, Huapeng Wu, Yong Cheng, Hongtao Pan, Yang Yang, Guodong Qin |
| Jazyk: |
angličtina |
| Rok vydání: |
2022 |
| Předmět: |
|
| Zdroj: |
IEEE Access, Vol 10, Pp 125893-125907 (2022) |
| Druh dokumentu: |
article |
| ISSN: |
2169-3536 |
| DOI: |
10.1109/ACCESS.2022.3226036 |
| Popis: |
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. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
|
