Comparison between the IDIM-IV method and the DIDIM method for industrial robots identification

Mathieu Brunot (1, 2) , Alexandre Janot (1) , Francisco Carrillo (2) , Hugues Garnier (3)

1 ONERA - The French Aerospace Lab [Toulouse]
2 LGP - Laboratoire Génie de Production
3 CRAN - Centre de Recherche en Automatique de Nancy

This paper deals with two robot identification methods recently introduced. The first one is based on the use of the Inverse Dynamic Identification Model (IDIM) and the Instrumental Variable (IV). The second one is the Direct and Inverse Dynamic Identification Models (DIDIM) method, which is a closed-loop output error method minimizing the quadratic error between the actual and simulated joint torques. Both methods rely on the simulation of the Direct Dynamic Model(DDM). They are compared with a six degrees of freedom industrial robot. The experimental results show that the DIDIM method has the advantage of requiring less data preprocessing. Nevertheless, the IDIM-IV method appears to be more robust to modelling errors in the simulation which are not located in the identified dynamic model.

Mots clés: Identification and estimation in mechatronics

Domaines: Robotique [cs.RO]

Mathieu Brunot, Alexandre Janot, Francisco Carrillo, Hugues Garnier. Comparison between the IDIM-IV method and the DIDIM method for industrial robots identification. International Conference on Advanced Intelligent Mechatronics, AIM 2017, Jul 2017, Munich, Germany. ⟨hal-01635641⟩