Journal ArticleDOI
Modeling and identification for high-performance robot control: an RRR-robotic arm case study
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This paper explains a procedure for getting models of robot kinematics and dynamics that are appropriate for robot control design and gives particular attention to the design of identification experiments and to online reconstruction of state coordinates.Abstract:
This paper explains a procedure for getting models of robot kinematics and dynamics that are appropriate for robot control design. The procedure consists of the following steps: 1) derivation of robot kinematic and dynamic models and establishing correctness of their structures; 2) experimental estimation of the model parameters; 3) model validation; and 4) identification of the remaining robot dynamics, not covered with the derived model. We give particular attention to the design of identification experiments and to online reconstruction of state coordinates, as these strongly influence the quality of the estimation process. The importance of correct friction modeling and the estimation of friction parameters are illuminated. The models of robot kinematics and dynamics can be used in model-based nonlinear control. The remaining dynamics cannot be ignored if high-performance robot operation with adequate robustness is required. The complete procedure is demonstrated for a direct-drive robotic arm with three rotational joints.read more
Citations
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Journal Article
Technical Note: modification of the Leuven integrated friction model structure
TL;DR: In this paper, a modification of the integrated friction model structure proposed by Swevers et al. called the Leuven model is presented, which allows accurate modeling both in the presliding and the sliding regimes without the use of a switching function.
Proceedings ArticleDOI
Friction Compensation in Robotics: an Overview
Basilio Bona,Marina Indri +1 more
TL;DR: A reasoned overview of the main friction compensation techniques that have been developed in the last years, regrouping them according to the adopted kind of control strategy is presented in this article.
Journal ArticleDOI
Extended State Observer-Based Sliding Mode Control of an Omnidirectional Mobile Robot With Friction Compensation
TL;DR: This paper presents a reduced-order extended state observer (ESO) based sliding mode control scheme for friction compensation of a three-wheeled omnidirectional mobile robot and stability analysis of the designed control system is presented.
Journal ArticleDOI
Parameter identification for industrial robots with a fast and robust trajectory design approach
Jingfu Jin,Nicholas Gans +1 more
TL;DR: In this paper, the authors proposed a novel, computationally efficient and intuitive optimality criterion to design the excitation trajectory for the robot to follow, and validated the dynamics parameters using torque prediction accuracy and compare to existing methods.
Journal ArticleDOI
A Generic Instrumental Variable Approach for Industrial Robot Identification
TL;DR: A generic IV approach suitable for robot identification that validates the inverse and direct dynamic models simultaneously, is not sensitive to initial conditions, and converges rapidly is proposed.
References
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Nonlinear Dynamical Control Systems
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