Closed-loop model identification of cooperative manipulators holding deformable objects
This paper presents system identification to obtain the closed-loop models of a couple of cooperative manipulators in a system, which function to hold deformable objects. The system works using the master-slave principle. In other words, one of the manipulators is position-controlled through enco...
| Main Authors: | , , |
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| Format: | Proceeding Paper |
| Language: | English English |
| Published: |
IOP Publishing
2017
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/59339/ http://irep.iium.edu.my/59339/7/59339-Closed-loop%20model.pdf http://irep.iium.edu.my/59339/13/Closed-loop%20model%20identification%20of%20cooperative%20manipulators%20holding%20deformable%20objects.pdf |
| _version_ | 1848785295265234944 |
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| author | Alkathiri, A A Akmeliawati, Rini Zainul Azlan, Norsinnira |
| author_facet | Alkathiri, A A Akmeliawati, Rini Zainul Azlan, Norsinnira |
| author_sort | Alkathiri, A A |
| building | IIUM Repository |
| collection | Online Access |
| description | This paper presents system identification to obtain the closed-loop models of a
couple of cooperative manipulators in a system, which function to hold deformable objects.
The system works using the master-slave principle. In other words, one of the manipulators is
position-controlled through encoder feedback, while a force sensor gives feedback to the other
force-controlled manipulator. Using the closed-loop input and output data, the closed-loop models, which are useful for model-based control design, are estimated. The criteria for model validation are a 95% fit between the measured and simulated output of the estimated models
and residual analysis. The results show that for both position and force control respectively, the
fits are 95.73% and 95.88%. |
| first_indexed | 2025-11-14T16:50:52Z |
| format | Proceeding Paper |
| id | iium-59339 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-14T16:50:52Z |
| publishDate | 2017 |
| publisher | IOP Publishing |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-593392018-04-02T01:58:35Z http://irep.iium.edu.my/59339/ Closed-loop model identification of cooperative manipulators holding deformable objects Alkathiri, A A Akmeliawati, Rini Zainul Azlan, Norsinnira TJ212 Control engineering This paper presents system identification to obtain the closed-loop models of a couple of cooperative manipulators in a system, which function to hold deformable objects. The system works using the master-slave principle. In other words, one of the manipulators is position-controlled through encoder feedback, while a force sensor gives feedback to the other force-controlled manipulator. Using the closed-loop input and output data, the closed-loop models, which are useful for model-based control design, are estimated. The criteria for model validation are a 95% fit between the measured and simulated output of the estimated models and residual analysis. The results show that for both position and force control respectively, the fits are 95.73% and 95.88%. IOP Publishing 2017-11-07 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/59339/7/59339-Closed-loop%20model.pdf application/pdf en http://irep.iium.edu.my/59339/13/Closed-loop%20model%20identification%20of%20cooperative%20manipulators%20holding%20deformable%20objects.pdf Alkathiri, A A and Akmeliawati, Rini and Zainul Azlan, Norsinnira (2017) Closed-loop model identification of cooperative manipulators holding deformable objects. In: 6th International Conference on Mechatronics - ICOM'17, 8-9 Aug 2017, Kuala Lumpur. http://iopscience.iop.org/article/10.1088/1757-899X/260/1/012035/pdf 10.1088/1757-899X/260/1/012035 |
| spellingShingle | TJ212 Control engineering Alkathiri, A A Akmeliawati, Rini Zainul Azlan, Norsinnira Closed-loop model identification of cooperative manipulators holding deformable objects |
| title | Closed-loop model identification of cooperative manipulators holding deformable objects |
| title_full | Closed-loop model identification of cooperative manipulators holding deformable objects |
| title_fullStr | Closed-loop model identification of cooperative manipulators holding deformable objects |
| title_full_unstemmed | Closed-loop model identification of cooperative manipulators holding deformable objects |
| title_short | Closed-loop model identification of cooperative manipulators holding deformable objects |
| title_sort | closed-loop model identification of cooperative manipulators holding deformable objects |
| topic | TJ212 Control engineering |
| url | http://irep.iium.edu.my/59339/ http://irep.iium.edu.my/59339/ http://irep.iium.edu.my/59339/ http://irep.iium.edu.my/59339/7/59339-Closed-loop%20model.pdf http://irep.iium.edu.my/59339/13/Closed-loop%20model%20identification%20of%20cooperative%20manipulators%20holding%20deformable%20objects.pdf |