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This paper deals with a new CLIE (Closed Loop Input Error) method for dynamic identification of flexible joint robots. This is a straightforward extension of the DIDIM (Direct and Inverse Dynamic Identification Models) method from rigid robots to flexible joint robots. DIDIM is a fast closed loop input error method which minimizes the quadratic error between the actual motor force/torque (the control...
This paper proposes two new methods for the identification of static stiffnesses of multi degrees of freedom heavy industrial robots. They are based on a locked link joint procedure obtained with an end-effector fixed to the environment. The first method requires only measurements of motor positions and motor torques data computed from motor current measurements and manufacturer's drive gains. The...
The Kuka LWR is equipped with torque sensors mounted into the actuated joints. Each torque sensor is calibrated separately before it is mounted on the robot. This needs a second calibration at the last stage of the assembling of the robot in order to take into account the effect of the robot structure through it's jacobian matrix. This final calibration is necessary to improve the accuracy of the...
This paper deals with the dynamic identification of the Kuka LightWeight Robot LWR4+. Although this robot is widely used for research purposes by many laboratories, there is not yet a published dynamic model available for model based control or simulation. Because Kuka does not give any information about the dynamic parameters of the robot we propose to identify 2 sets of parameters using the usual...
The Kuka LWR is equipped with torque sensors mounted on the link side of the actuated joints. Each torque sensor is calibrated separately before it is mounted on the robot. This needs a second calibration at the last stage of the assembling of the robot in order to take into account the effect of the robot structure. This final in situ calibration is necessary to improve the accuracy of the estimation...
This paper deals with a new iterative learning dynamic identification and control method of robot. The robot is closed-loop controlled with a Computed Torque Control (CTC). The parameters of the Inverse Dynamic Model (IDM), which calculates the CTC are calculated to minimize the quadratic error between the actual joint force/torque and a joint force/torque calculated with the Inverse Dynamic Identification...
In this paper, the global identification of spring balancer, dynamic parameters and joint drive gains of a 6 Degrees Of Freedom (DOF) robot is performed. Off-line identification method is based on the use of the Inverse Dynamic Identification Model (IDIM) which takes into account a spring balancer for gravity compensation and linear Least Squares (LS) technique to estimate the parameters from the...
This paper deals with a new iterative learning dynamic identification method of robot controlled with a Computed Torque Control (CTC) law. The parameters of the Inverse Dynamic Model (IDM) used to compute the CTC, are periodically calculated to minimize the quadratic error between the actual joint force/torque and a joint force/torque calculated with the Inverse Dynamic Identification Model (IDIM),...
In many cases of new actuation of compliant controlled or bio-inspired joint driven robot, a global identification of electrical and mechanical coupled dynamics is required. This paper proposes a technique which mixes a closed loop output error method with the inverse dynamic identification model method which allows using linear least-squares technique to estimate the parameters. A first approach...
This paper deals with joint stiffness off-line identification with new closed loop output error method which minimizes the quadratic error between the actual motor force/torque and the simulated one. The measurement of the joint position and its derivatives are not necessary. This method called DIDIM (Direct and Inverse Dynamic Identification Models) was previously validated on rigid robots and is...
This paper deals with joint stiffness identification with a new Closed-Loop Output Error (CLOE) method which minimizes the quadratic error between the actual motor force/torque and the simulated one. This method is based on the DIDIM (Direct and Inverse Identification Model) procedure which has been validated on rigid robots and which is now applied to a flexible joint robot. DIDIM method requires...
This paper deals with joint stiffness identification with only actual motor force/torque data instead of motor and load positions. The parameters are estimated by using the DIDIM method which needs only input data. This method was previously validated on a 6 DOF rigid robot and is now extended to flexible systems. The criterion to be minimized is the quadratic error between the measured actual motor...
This paper addresses the important topic of joint flexibility identification. Three dynamic models depending on measurements availability are compared. The parameters are estimated by using the ordinary least squares of an over linear system obtained from the sampling of the dynamic model along a closed loop tracking trajectory. An experimental setup exhibits the experimental identification results.
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