Online payload estimation for the control of underactuated mechanical systems

다국어 초록 (Multilingual 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, becausethe manipulator’s electrical and other mechanical parameters are generally known in advance. In comparison to other adaptiveschemes for underactuated robotic manipulators, the proposed scheme produces satisfactory transient performance and also reduces thecomputational 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 filteringof a switching signal that is always bounded, which avoids the parameter-drifting problem that is often encountered when using theprevious integral laws. Real-time experiments are conducted using an inverted pendulum and the experimental results demonstrate thefeasibility and effectiveness of the proposed scheme.

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