Identification of 6 DOF Rigid Industrial Robots with the Instrumental Variable Method

Abstract : This paper deals with the topic of robots dynamics identification. In this paper, we focus on the instrumental variable (IV) technique. For robots, the set of instruments is the inverse dynamic model built from simulated data which are calculated from the integration of the direct dynamic model, assuming the same reference trajectories and the same control law structure for both actual and simulated robots. The integration of the direct dynamic model is based on previous IV estimates. This defines an iterative algorithm. Furthermore, gains of the simulated controller are updated to get a fast convergence. Experimental results obtained on a six degrees of freedom robot manufactured by Stäubli show the effectiveness of our approach: 60 dynamic parameters are estimated in only two iterations.
Type de document :
Communication dans un congrès
16th IFAC Symposium on System Identification, Jul 2012, Belgium. 16, pp.1659-1664, schémas, tabl., ill. en coul., bibliogr, 2012, 〈10.3182/20120711-3-BE-2027.00058〉
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https://hal.archives-ouvertes.fr/hal-00851515
Contributeur : Ifsttar Cadic <>
Soumis le : mercredi 14 août 2013 - 16:39:50
Dernière modification le : mercredi 19 décembre 2018 - 15:02:06

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Alexandre Janot, Pierre Olivier Vandanjon, Maxime Gautier. Identification of 6 DOF Rigid Industrial Robots with the Instrumental Variable Method. 16th IFAC Symposium on System Identification, Jul 2012, Belgium. 16, pp.1659-1664, schémas, tabl., ill. en coul., bibliogr, 2012, 〈10.3182/20120711-3-BE-2027.00058〉. 〈hal-00851515〉

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