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Physical Reality Constrained Dynamics Identification of Robots Based on CAD Model

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Intelligent Robotics and Applications (ICIRA 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 14271))

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Abstract

Physical feasibility constraints play an important role in robot dynamics parameter identification. However, in practical robot development, not only physical feasibility is required, but also mapping the real inertial properties of each link. In this work, the latter requirement is called physical reality constraints. To address this problem, a two-step identification method for identifying the complete set of inertial parameters is adopted to guarantee the identified result is optimal in both static and dynamic environments while considering physical reality. To fulfill physical reality constraints, the dynamic parameters retrieved from the robot CAD model are used as the initial guesses in the optimization process, and the parameters’ lower and upper boundaries are decided by adding and subtracting a suitable value respectively. The proposed approach is validated on a six-DOF collaborative robot.

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Authors and Affiliations

  1. Blue-Orange Lab, Midea Group, Foshan, 528300, China

    Lin Yang, Wenjie Chen, Che Hou, Yuqiang Wu & Xiaoqiang Chen

  2. Midea Corporate Research Center, Foshan, 528300, Shanghai, China

    Lin Yang, Wenjie Chen, Che Hou, Yuqiang Wu & Xiaoqiang Chen

Authors
  1. Lin Yang
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  2. Wenjie Chen
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  3. Che Hou
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  4. Yuqiang Wu
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  5. Xiaoqiang Chen
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Corresponding author

Correspondence to Wenjie Chen .

Editor information

Editors and Affiliations

  1. Zhejiang University, Hangzhou, China

    Huayong Yang

  2. Harbin Institute of Technology, Shenzhen, China

    Honghai Liu

  3. Zhejiang University, Hangzhou, China

    Jun Zou

  4. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  5. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  6. Zhejiang University, Hangzhou, China

    Geng Yang

  7. Zhejiang University, Hangzhou, China

    Xiaoping Ouyang

  8. Harbin Institute of Technology, Shenzhen, China

    Zhiyong Wang

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Yang, L., Chen, W., Hou, C., Wu, Y., Chen, X. (2023). Physical Reality Constrained Dynamics Identification of Robots Based on CAD Model. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14271. Springer, Singapore. https://doi.org/10.1007/978-981-99-6495-6_18

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  • DOI: https://doi.org/10.1007/978-981-99-6495-6_18

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-6494-9

  • Online ISBN: 978-981-99-6495-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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