Real Time Mass Estimation of the Payload of a 3-DOF Flexible Links Robot Using an Algebraic Technique Robust to Sensor Offset

Salma  Benftima; Saddam  Gharab; Andres San Millan Rodriguez; Vicente Feliu-Batlle

doi:10.1109/LRA.2024.3513000

Real Time Mass Estimation of the Payload of a 3-DOF Flexible Links Robot Using an Algebraic Technique Robust to Sensor Offset

Salma Benftima^*
, Saddam Gharab
, Andres San Millan Rodriguez
, Vicente Feliu-Batlle

^*Corresponding author for this work

Engineering

University of Castilla-La Mancha

Research output: Contribution to journal › Article › peer-review

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Abstract

Accurate knowledge of a robot's payload mass is crucial for tasks and necessary for adjusting controller gains to improve trajectory tracking, especially in Flexible Link Robots ( FLR s) with complex, marginally stable dynamics. Changes in payload mass can destabilize the control system, making real-time mass estimation before maneuvers essential. This article presents an algebraic estimation technique for identifying payload mass in a 3- DOF FLR using motor encoder data and strain gauge measurements while ensuring robustness to strain gauge offset and gravity. The method estimates vibration natural frequencies to determine the mass and compares estimators with other techniques like Prony's method, Recursive Least Squares, and Fast Fourier transform, demonstrating its efficiency in real experiments.

Original language	English
Pages (from-to)	1106-1113
Number of pages	8
Journal	IEEE Robotics and Automation Letters
Volume	10
Issue number	2
Early online date	9 Dec 2024
DOIs	https://doi.org/10.1109/LRA.2024.3513000
Publication status	Published - Feb 2025

Data Availability Statement

No data availability statement.

Funding

This research was supported in part by Grant PID2022-141409OB-C21 funded by the Spanish MCIN/AEI/10.13039/501100011033 / “FEDER, UE A way of making Europe” and in part by the Spanish University of Castilla-La Mancha under Grant 2019-PREDUCLM-10960.

Funders	Funder number
The Spanish Ministry of Science and Innovation	10.13039/501100011033, 2019-PREDUCLM-10960

Keywords

Algebraic estimation
FLR
3-DOF
natural frequency
Prony's method
recursive least squares
F FT
Algebraic Estimation
Natural Frequency
FFT
Prony's Method
Recursive Least Squares

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Benftima_etal_IEEERAL_Real_Time_Mass_AAM
This manuscript has been made open access under a Creative Commons Attribution (CC BY) licence under the terms of the University of Aberdeen Research Publications Policy. https://creativecommons.org/licenses/by/4.0/
Accepted author manuscript, 1.9 MBLicence: CC BY

Cite this

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abstract = "Accurate knowledge of a robot's payload mass is crucial for tasks and necessary for adjusting controller gains to improve trajectory tracking, especially in Flexible Link Robots ( FLR s) with complex, marginally stable dynamics. Changes in payload mass can destabilize the control system, making real-time mass estimation before maneuvers essential. This article presents an algebraic estimation technique for identifying payload mass in a 3- DOF FLR using motor encoder data and strain gauge measurements while ensuring robustness to strain gauge offset and gravity. The method estimates vibration natural frequencies to determine the mass and compares estimators with other techniques like Prony's method, Recursive Least Squares, and Fast Fourier transform, demonstrating its efficiency in real experiments.",

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AU - Feliu-Batlle, Vicente

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AB - Accurate knowledge of a robot's payload mass is crucial for tasks and necessary for adjusting controller gains to improve trajectory tracking, especially in Flexible Link Robots ( FLR s) with complex, marginally stable dynamics. Changes in payload mass can destabilize the control system, making real-time mass estimation before maneuvers essential. This article presents an algebraic estimation technique for identifying payload mass in a 3- DOF FLR using motor encoder data and strain gauge measurements while ensuring robustness to strain gauge offset and gravity. The method estimates vibration natural frequencies to determine the mass and compares estimators with other techniques like Prony's method, Recursive Least Squares, and Fast Fourier transform, demonstrating its efficiency in real experiments.

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Real Time Mass Estimation of the Payload of a 3-DOF Flexible Links Robot Using an Algebraic Technique Robust to Sensor Offset

Abstract

Data Availability Statement

Funding

Keywords

Access to Document

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