On the modelling and identification of a manipulator joint dynamics

The identification of the joint dynamics of a geared manipulator is presented. The manipulator joint is described with relevance to its actuator system and its mechanical design. From both these aspects (actuator and mechanical design) non-linear dynamic effects arise. These effects are presented and related to the manipulator model. The actuator system consists of an analogue servo amplifier a dc motor and a harmonic drive gear. The mechanical design of the joint consists in the use of bearings to allow the relative motion between the links. In this paper models are created for the analogue servo amplifier and for the dc motor. The effect of the harmonic drive flexibility is then considered in the joint global model. Parameter identification experiments are performed for the previous models.