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Dynamic Model Identification for Industrial Robots

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Author(s): Ngoc Dung Vuong | Marcelo H. Ang Jr.

Journal: Acta Polytechnica Hungarica
ISSN 1785-8860

Volume: 6;
Issue: 5;
Start page: 51;
Date: 2009;
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Keywords: Dynamic Modeling | Model Identification | Friction Models | Model-based Control

ABSTRACT
In this paper, a systematic procedure for identifying the dynamics of industrialrobots is presented. Since joint friction can be highly nonlinearwith time varyingcharacteristics in the low speed region,a simple and yet effective scheme has been used toidentify the boundary velocity that separates this “dynamic” friction region from its staticregion. The robot’s dynamic model is then identified in this static region, where thenonlinnear friction model is reduced to the linear-in-parameter form. To overcome thedrawbacks of the least squares estimator, which does not take in any constraints, anonlinear optimization problem is formulated to guarantee the physical feasibility of theidentified parameters. The proposed procedure has been demonstrated on the first fourlinks of the Mitsubishi PA10 manipulator, an improved dynamic model was obtained andthe the effectiveness of the proposed identification procedure is demonstrated.
RPA Switzerland

RPA Switzerland

Robotic process automation

    

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Tangokurs Rapperswil-Jona