On the identification of continuous-time inverse dynamic model of electromechanical systems operating in closed loop with an instrumental variable approach: application to industrial robots

Sur l'identification du modèle dynamique inverse à temps continu de systèmes électromécaniques opérant en boucle fermée avec une approche basée sur les variables instrumentales: application aux robots industriels.

Alexandre Janot (1)

1 ONERA - The French Aerospace Lab [Toulouse]

The works focus on the identification of industrial robots that belongs to the field of the identification of continuous-time inverse dynamic models in closed loop. First, a generic instrumental approach relevant for the identification of rigid industrial robots is proposed. The set of instruments is the inverse dynamic model constructed from simulated data calculated from the simulation of the direct dynamic model. This algorithm termed the IDIM-IV method validates the inverse and direct dynamic models simultaneously, improves the noise immunity of estimates with respect to corrupted data in the observation matrix and has a rapid convergence. This new approach is experimentally validated and compared with other standard methods. Then, a statistical test able to assess the validity of the set of instruments as well as the consistency of the least-squares estimates is presented. This test is based on the use of the Two-Stage-Least-Squares method and the regressed Durbin-Wu-Hausman test that are commonly used in econometrics. Finally, the perspectives that the IDIM-IV method can offer to the communities of robotics and automatic control are enlightened

Ce manuscrit résume les travaux menés sur l'identification des robots industriels conduits à l'ONERA. Dans le premier chapitre, les méthodes usuelles de modélisation et d'identification appliquées aux robots industriels rigides sont présentées. Le deuxième chapitre introduit une nouvelle méthode d'identification basée sur l'utilisation des variables instrumentales alors que le troisième chapitre présente un test statistique capable de valider la construction des instruments. Enfin, dans un quatrième chapitre, les perspectives offerts par ces nouvelles méthodes sont introduites.

Mots clés: IDENTIFICATION CLOSED LOOP; ROBOTICS; INSTRUMENTAL VARIABLES; INVERSE DYNAMIC MODELS

Mots clés: IDENTIFICATION BOUCLE FERMEE; ROBOTIQUE; VARIABLES INSTRUMENTALES; MODELES DYNAMIQUES INVERSES

Domaines: Robotique [cs.RO]

Alexandre Janot. On the identification of continuous-time inverse dynamic model of electromechanical systems operating in closed loop with an instrumental variable approach: application to industrial robots. Robotics [cs.RO]. CENTRE MIDI PYRENEES TOULOUSE, 2017. ⟨tel-01691536⟩