The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
권호 표지
DOI QR코드

DOI QR Code

Least Squares Method-Based System Identification for a 2-Axes Gimbal Structure Loading Device

2축 짐벌 구조 적재 장치를 위한 최소제곱법 기반 시스템 식별

  • Sim, Yeri (School of Mechanical Engineering, Pusan National University) ;
  • Jin, Sangrok (School of Mechanical Engineering, Pusan National University)
  • Received : 2022.07.07
  • Accepted : 2022.07.25
  • Published : 2022.08.31
Download PDF
⟨ Previous Next ⟩

Abstract

This study shows a system identification method of a balancing loading device for a stair climbing delivery robot. The balancing loading device is designed as a 2-axes gimbal structure and is interpreted as two independent pendulum structures for simplifying. The loading device's properties such as mass, moment of inertia, and position of the center of gravity are changeable for luggage. The system identification process of the loading device is required, and the controller should be optimized for the system in real-time. In this study, the system identification method is based on least squares method to estimate the unknown parameters of the loading device's dynamic equation. It estimates the unknown parameters by calculating them that minimize the error function between the real system's motion and the estimated system's motion. This study improves the accuracy of parameter estimation using a null space solution. The null space solution can produce the correct parameters by adjusting the parameter's relative sizes. The proposed system identification method is verified by the simulation to determine how close the estimated unknown parameters are to the real parameters.

Keywords

Acknowledgement

This work was supported by the Korea Agency for Infrastructure Technology Advancement (KAIA) grant funded by the Ministry of Land, Infrastructure and Transport (Grant 21CTAP-C164242-01)

References

  1. P. Gautam, "System identification of nonlinear Inverted Pendulum using artificial neural network," 2016 International Conference on Recent Advances and Innovations in Engineering (ICRAIE), Jaipur, India, 2016, DOI: 10.1109/ICRAIE.2016.7939522.
  2. M. F. Arevalo-Castiblanco, C. H. Rodriguez-Garavito, and A. A. Patino-Forero, "Identification of a non-linear model type inverted rotary pendulum," 2017 IEEE 3rd Colombian Conference on Automatic Control (CCAC), Bogota, Colombia, 2017, DOI: 10.1109/CCAC.2017.8276379.
  3. Q. Qi, W. Huang, Y. Zhao, Q. He, Q. Huang, and X. Lin, "System identification of the double inverted pendulum based on genetic algorithm," 2008 2nd International Symposium on Systems and Control in Aerospace and Astronautics, Shenzhen, China, 2008, DOI: 10.1109/ISSCAA.2008.4776376.
  4. M. Harati, A. A. Ghavifekr, and A. R. Ghiasi, "Model Identification of Single Rotary Inverted Pendulum Using Modified Practical Swarm Optimization Algorithm," 2020 28th Iranian Conference on Electrical Engineering (ICEE), Tabriz, Iran, 2020, DOI: 10.1109/ICEE50131.2020.9261035.
  5. C. Hu and F. Wan, "Parameter identification of a model with Coulomb friction for a real Inverted Pendulum System," 2009 Chinese Control and Decision Conference, Guilin, China, pp. 2869-2874, 2009, DOI: 10.1109/CCDC.2009.5192688.
  6. A. Barket, M. T. Hamayun, S. Ijaz, S. Akhtar, E. A. Ansari, and I. Ghous, "Modeling identification and real-time implementation of a linear parameter-varying control scheme on lab-based inverted pendulum system," Journal of Systems and Control Engineering, vol. 235, no. 4, pp. 30-38, 2021, DOI: 10.1177%2F0959651820935692. https://doi.org/10.1177%2F0959651820935692
  7. H. Sadeghian, L. Villani, M. Keshmiri, and B. Siciliano, "Task-Space Control of Robot Manipulators With Null-Space Compliance," IEEE Transaction on Robotics, vol. 30, no. 2, pp. 493-506, April, 2021, DOI: 10.1109/TRO.2013.2291630.
  8. F. Flacco, A. De Luca, and O. Khatib, "Motion control of redundant robots under joint constraints: Saturation in the Null Space," 2012 IEEE International Conference on Robotics and Automation, Saint Paul, MN, USA, pp. 285-292, May, 2012, DOI: 10.1109/ICRA.2012.6225376.
  9. R. Platt, A. H. F agg, a nd R . A. G rupen, "Null-S pace Grasp Control: Theory and Experiments," IEEE International Transaction on Robotics, vol. 26, no. 2, pp. 282-295, April, 2010, DOI: 10.1109/TRO.2010.2042754.
  10. G. Antonelli, F. Arrichiello, and S. Chiaverini, "The null-space-based behavioral control for autonomous robotic systems," Intelligent Service Robotics, pp. 27-39, 2008, DOI: 10.1007/s11370-007-0002-3.