Dynamic Parameter Identification In Industrial Robots Considering Physical Feasibility

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Journal Title, Volume, Page: 
Advanced Robotics Volume 19, Issue 1, 2005
Year of Publication: 
2005
Authors: 
Vicente Mata
Departamento de Ingenieria Mecanica y Materiales and Universidad Politecnica de Valencia, Camiro de vera s/n, Valencia 46022, Spain
Francesc Benimeli
Departamento de Ingenieria Mecanica y Materiales and Universidad Politecnica de Valencia, Camiro de vera s/n, Valencia 46022, Spain
Nidal Farhat
Departamento de Ingenieria Mecanica y Materiales and Universidad Politecnica de Valencia, Camiro de vera s/n, Valencia 46022, Spain
Current Affiliation: 
Department of Mechanical Engineering, Faculty of Engineering, An-Najah National University, Nablus, P.O. Box 7, Palestine
Angel Valera
Departamento de Ingenieria de Sistemas y Automatica Universidad Politecnica de Valencia, Valencia 46022, Spain
Preferred Abstract (Original): 

The issue of identification of dynamic parameters in open-chain industrial manipulators is addressed with emphasis on the physical feasibility of the identified set of parameters. The dynamic model on which the identification procedure is based considers rigid-link robots including a complete actuator dynamics modeling and is obtained starting from the Gibbs–Appell equations. Friction at the joints is also considered. The dynamic equations of the model are written linearly with respect to the dynamic parameters to be identified. The matrix form linear system is solved through a quadratic optimization procedure with non-linear constraints in order to ensure the physical feasibility of the identified parameters. The procedure is tested using a PUMA 560 industrial robot. A comparison between control actions and torques obtained from the Inverse Dynamic Problem considering identified parameters is performed in order to establish the validity of the proposed procedure. The set of physically feasible dynamic parameters is used in an integration of the equations of motion of the robot and the results of the simulation are compared with the robot actual movement.