Toward on-line robot vibratory modes estimation

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

1 LSIS- INSM - Laboratoire des Sciences de l'Information et des Systèmes : Ingénierie Numérique des Systèmes Mécaniques

This paper is concerned with preliminaries 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, 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, St¨aubli RX-170B.

Mots clés: Manipulator robots; Dominating oscillatory mode; Parameter estimation; Algebraic approach; Sliding modes

Domaines: Optimisation et contrôle [math.OC]; Automatique

Romain Delpoux, Richard Béarée, Adel Olabi, Olivier Gibaru. Toward on-line robot vibratory modes estimation. American Control Conference (Portalnd: 2014), Jun 2014, Portland, United States. pp.4385 - 4390. ⟨hal-01410850⟩