Hostname: page-component-8448b6f56d-t5pn6 Total loading time: 0 Render date: 2024-04-24T00:52:13.792Z Has data issue: false hasContentIssue false
  • English
  • Français

A parameter identification method for robot dynamic models using a balancing mechanism

Published online by Cambridge University Press:  09 March 2009

T. G. Lim ,
H. S. Cho  and
W. K. Chung
H. S. Cho
Affiliation:
Department of Production Engineering, Korea Advanced Institute of Science and Technology, Cheongryangni P.O. Box 150, Seoul (Korea).
W. K. Chung
Affiliation:
Department of Mechanical Engineering, Pohang Institute of Science and Technology, Pohang (Korea).
Get access Rights & Permissions [Opens in a new window]

Summary

Accurate modeling of robot dynamics is a prerequisite for the design of model-based control schemes and enhancement of the performance of the robot. The dynamic parameters associated with a pseudo-inertia matrix are often difficult to identify accurately because the inertia torques are small in comparison to gravity loadings, thus creating signal processing problem. The identification method presented in this paper utilizes a balancing mechanism which increases the estimation accuracy of the dynamic parameters. The balancing mechanism has the effect of amplifying the inertia-related torque signal by eliminating gravity loadings acting on the robot joints. A series of motion data were experimentally obtained through sequential test steps. By incorporating the measured information about joint torques, angular positions, velocities and accelerations the least square algorithm was used to identify the dynamic parameters. The estimated values were converted to those of the original robot model to obtain its dynamic model parameters. The identified robot dynamic model was shown to be accurate enough to predict the actual robot motions.

Keywords

Robot DynamicModelsBalancing MechanismParameter Identification
Type
Research Article
Information
Robotica , Volume 7 , Issue 4 , October 1989 , pp. 327 - 337
Copyright
Copyright © Cambridge University Press 1989

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Armstrong, B., Khatib, O. and Burdick, J., “The explicit dynamic model and inertial parameters of the PUMA 560 arm” IEEE Int. Conf. on Robotics and Automation,San Francisco, California510–518 (1986).Google Scholar
2.Lee, K.W., Shape Optimization of Assemblies using Geometric Properties, Ph. D. Dissertation (Department of Mechanical Engineering, MIT, 1983).Google Scholar
3.Mayeda, H., Osuka, K. and Kangawa, A., “A new identification method for serial manipulator arms” IFAC '84, 9th World Congress, Budapest, Hungary 74–79 (1984).Google Scholar
4.Olsen, H.B. and Bekey, G.A., “Identification of parameters in models of robots with rotary joints” IEEE Int. Conf. on Robotics and Automation, Missouri1045–1049 (1985).Google Scholar
5.Olsen, H.B. and Bekey, G.A., “Identification of robot dynamics” IEEE Conf. on Decision and Control 2, 1004–1010 (1986).Google Scholar
6.Atkeson, C.G., An, C.H. and Hollerbach, J.M., “Estimation of inertial parameters of manipulator loads and links” Int. J. of Robotics Research 5, No. 3, 101–119 (Fall 1986).Google Scholar
7.Khosla, P.K. and Kanade, T., “Parameter identification of robot dynamics” Proceedings of the 24th CDC, Florida 1754–1760 (12 1985).Google Scholar
8.Khosla, P.K., Real-Time Control and Identification of Direct-Drive Manipulators, Ph.D. Dissertation (Department of Electrical and Computer Engineering, Carnegie-Mellon University, 1986).Google Scholar
9.Moon, J.I., Chung, W.K., Cho, H.S. and Gweon, D.G., “A dynamic parameter identification method for a PUMA-760 robot” 16th ISIR, Brussels, Belgium (10 1986).Google Scholar
10.Chung, W.K., On the Dynamic Characteristics and Control of Balanced Robotic Manipulators, Ph.D. Dissertation (Department of Production Engineering, KAIST, Korea, 1987).Google Scholar
11.Moon, J.I., A Study on Dynamic Parameter Identification of a PUMA-760 Robot, M.S. Thesis (Department of Production Engineering, KAIST, Korea, 1986).Google Scholar
12.Lim, T.G., On Dynamic Parameter Identification of a PUMA-760 Robot using a Balancing Mechanism, M.S. Thesis (Department of Production Engineering, KAIST, Korea, 1987).Google Scholar