Proceedings ArticleDOI
Experimental identification of robot dynamics for control
Jan Swevers,Chris Ganseman,X Chenut,Jean-Claude Samin +3 more
- Vol. 1, pp 241-246
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TLDR
The paper shows how the experimental identification of dynamic robot models reflects on the choices that have to be made in the different steps of the identification procedure, and consequently on the accuracy of the obtained model parameters and actuator torque prediction.Abstract:
The paper discusses the experimental identification of dynamic robot models for their application in model based robot control, e.g., computed torque control. The accuracy of these controllers relies highly on the ability of the robot model to accurately predict the required actuator torques. The paper shows how this application reflects on the choices that have to be made in the different steps of the identification procedure, and consequently on the accuracy of the obtained model parameters and actuator torque prediction.read more
Citations
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Regelung von Robotern mit elastischen Gelenken am Beispiel der DLR-Leichtbauarme
TL;DR: In this article, a method for Parameter-Identifikation and Regelung of Robotern with elastischen Gelenken is presented, in which a theoretische Stabilitatsnachweis der Regler unter Berucksichtigung der vollstandigen, nichtlinearen Roboterdynamik is discussed.
Journal ArticleDOI
Kinematic and dynamic modelling for real-time control of Tau parallel robot
TL;DR: This paper presents the methodology of the kinematic and dynamic modeling for a newly developed parallel robot with the so-called Tau configuration and a rigid body dynamic model has been formulated based on the principle of virtual work.
Journal ArticleDOI
On Finding the Relevant Dynamics for Model-Based Controlling Walking Robots
TL;DR: A method to derive the dynamics of a robot leg as a function of leg-trajectory parameters is proposed and is an accurate and simple representation of the system dynamics, taking into account the most relevant dynamics affecting the system.
Journal ArticleDOI
Unit homogenization for estimation of inertial parameters of multibody mechanical systems
Saeed Ebrahimi,József Kövecses +1 more
TL;DR: A regression matrix, which contains the most important information about the motion of the system, with nonhomogeneous units cannot and should not be used in numerical methods due to the unit-inconsistency in matrix multiplication required in all numerical approaches.
Journal ArticleDOI
Classical Sliding and Generalized Variable Structure Controls for a Manipulator Robot Arm with Pneumatic Artificial Muscles
Lamia Melkou,Mustapha Hamerlain +1 more
TL;DR: The objective of this work is the synthesis and implementation of Classical and Generalized Variable Structure Control for a manipulator robot arm actuated by PAMs and results show that these oscillations are due to the discontinuous component of the control.
References
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An integrated friction model structure with improved presliding behaviour for accurate friction compensation
TL;DR: The general friction model allows modeling of individual friction systems through the identification of a set of parameters that determine the complete behavior of the system and has been used to identify the friction behavior of a linear slide as well as that of the KUKA robot.
Journal ArticleDOI
An integrated friction model structure with improved presliding behavior for accurate friction compensation
TL;DR: In this paper, the authors present a dynamical friction model structure which allows accurate modeling both in the sliding and the presliding regimes, and the transition between these two regimes is accomplished without a switching function.
Journal ArticleDOI
Optimal robot excitation and identification
TL;DR: Experiments on an industrial robot show that the presented trajectory design and maximum-likelihood parameter estimation approaches complement each other to make a practicable robot identification technique which yields accurate robot models.
Journal ArticleDOI
Direct calculation of minimum set of inertial parameters of serial robots
Maxime Gautier,Wisama Khalil +1 more
TL;DR: A direct method is presented for determining the minimum set of inertial parameters of serial robots and permits determination of most of the regrouped parameters by means of closed-form relations.
Journal ArticleDOI
Exciting trajectories for the identification of base inertial parameters of robots
Maxime Gautier,Wisama Khalil +1 more
TL;DR: In this article, a method to generate exciting identification trajectories in order to minimize the effect of noise and error modeling on the standard least-squares (LS) solution is presented.