Online payload estimation for the control of underactuated mechanical systems

Yu Sheng Lu, Hua Hsu Chiu

Research output: Contribution to journalArticle

Abstract

This paper presents a payload estimation scheme for underactuated robotic manipulators with passive joints that are not driven by actuators. In the proposed scheme, only the payload, which can be quite uncertain when a robot performs various tasks, is estimated, because the manipulator's electrical and other mechanical parameters are generally known in advance. In comparison to other adaptive schemes for underactuated robotic manipulators, the proposed scheme produces satisfactory transient performance and also reduces the computational burden in real-time implementation. The proposed estimation law is also based on the theory of Variable Structure Systems. In contrast to existing adaptation laws that have an integral form, the proposed law estimates uncertain payload using lowpass filtering of a switching signal that is always bounded, which avoids the parameter-drifting problem that is often encountered when using the previous integral laws. Real-time experiments are conducted using an inverted pendulum and the experimental results demonstrate the feasibility and effectiveness of the proposed scheme.

Original languageEnglish
Pages (from-to)2869-2877
Number of pages9
JournalJournal of Mechanical Science and Technology
Volume28
Issue number7
DOIs
Publication statusPublished - 2014 Jul

Keywords

  • Control system
  • Inverted pendulum
  • Payload estimation
  • Underactuated system

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering

Fingerprint Dive into the research topics of 'Online payload estimation for the control of underactuated mechanical systems'. Together they form a unique fingerprint.

  • Cite this