Real-time computation and parameter identification of torque-off sliding distance for elegant robot failure

Hongbo Wang, Jing Li, Xiansheng Qin, Kazuhiro Kosuge

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

When the robot is stopped after failure occurs, the moving part of the robot will decelerate until stop. The traveling distance during deceleration is called torque-off sliding distance (TOSD), which should be computed in real time for operation safety. However, the real-time requirement excludes the commonly adopted, iteration-based computation methods. Besides, the varying parameters further challenges the accuracy of the computed TOSDs. In this paper, we derive an analytic expression of TOSD, enabling its real-time computation in each servo cycle. To estimate the varying TOSD parameters, the discrete system dynamics is modeled via momentum changes, arriving at a set of linear identification equations that can also be solved in real time. The proposed TOSD formulation and online identification method are verified both in simulations and experiments.

Original languageEnglish
Title of host publication2019 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages198-202
Number of pages5
ISBN (Electronic)9781728137261
DOIs
Publication statusPublished - 2019 Aug
Event2019 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2019 - Irkutsk, Russian Federation
Duration: 2019 Aug 42019 Aug 9

Publication series

Name2019 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2019
Volume2019-August

Conference

Conference2019 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2019
CountryRussian Federation
CityIrkutsk
Period19/8/419/8/9

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Optimization

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    Wang, H., Li, J., Qin, X., & Kosuge, K. (2019). Real-time computation and parameter identification of torque-off sliding distance for elegant robot failure. In 2019 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2019 (pp. 198-202). [9043995] (2019 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2019; Vol. 2019-August). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/RCAR47638.2019.9043995