Toward on-line robot vibratory modes estimation

Romain Delpoux (1) , Richard Béarée (2) , Adel Olabi (3) , Olivier Gibaru (2, 1)

1 NON-A - Non-Asymptotic estimation for online systems
2 LSIS - Laboratoire des Sciences de l'Information et des Systèmes
3 INSM

This paper is concerned with preliminary results on robot vibratory modes on-line estimation. The dominating oscillatory mode of the robot arm is isolated by comparing the robot position given by the motors encoders and an external measure at the tool-tip of the robot arm. In this article the external measurement is provided by a laser tracker. The isolation of the oscillation permits to identify the vibratory mode, \textit{i.e.} the natural frequency and the damping ratio of the undesired phenomena. Here we propose a comparison between the algebraic method and the sliding modes for the parameter identification. This comparison is motivated by the fact that both methods provide finite time convergence. Experimental identifications are proposed on a 6 degrees of freedom (DOF) manipulator robot, Stäubli RX-170B.

Mots clés: sliding modes; Manipulator robots; dominating oscillatory mode; parameter estimation; algebraic approach; sliding modes.

Domaines: Automatique / Robotique

Romain Delpoux, Richard Béarée, Adel Olabi, Olivier Gibaru. Toward on-line robot vibratory modes estimation. American Control Conference (ACC), IEEE, Jun 2014, Portland, United States. ⟨10.1109/ACC.2014.6858969⟩. ⟨hal-00957809⟩