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Research Papers

Global Identification of Joint Drive Gains and Dynamic Parameters of Robots

[+] Author and Article Information
Maxime Gautier

Institut de Recherche en Communications
et Cybernétique de Nantes (IRCCyN),
UMR CNRS 6597,
1 rue de la Noë, BP 92101,
F-44321 Nantes Cedex 03, France
University of Nantes,
2 Chemin de la Houssinière,
Nantes 44300, France
e-mail: Maxime.Gautier@irccyn.ec-nantes.fr

Sébastien Briot

Institut de Recherche en Communications
et Cybernétique de Nantes (IRCCyN),
UMR CNRS 6597,
1 rue de la Noë, BP 92101,
F-44321 Nantes Cedex 03, France
e-mail: Sebastien.Briot@irccyn.ec-nantes.fr

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received October 3, 2013; final manuscript received April 22, 2014; published online July 10, 2014. Assoc. Editor: Jwu-Sheng Hu.

J. Dyn. Sys., Meas., Control 136(5), 051025 (Jul 10, 2014) (9 pages) Paper No: DS-13-1373; doi: 10.1115/1.4027506 History: Received October 03, 2013; Revised April 22, 2014

Off-line robot dynamic identification methods are based on the use of the inverse dynamic identification model (IDIM), which calculates the joint forces/torques that are linear in relation to the dynamic parameters, and on the use of linear least squares technique to calculate the parameters (IDIM-LS technique). The joint forces/torques are calculated as the product of the known control signal (the input reference of the motor current loop) by the joint drive gains. Then it is essential to get accurate values of joint drive gains to get accurate estimation of the motor torques and accurate identification of dynamic parameters. The previous works proposed to identify the gain of one joint at a time using data of each joint separately. This is a sequential procedure which accumulates errors from step to step. To overcome this drawback, this paper proposes a global identification of the drive gains of all joints and the dynamic parameters of all links. They are calculated altogether in a single step using all the data of all joints at the same time. The method is based on the total least squares solution of an overdetermined linear system obtained with the inverse dynamic model calculated with available input reference of the motor current loop and joint position sampled data while the robot is tracking some reference trajectories without load on the robot and some trajectories with a known payload fixed on the robot. The method is experimentally validated on an industrial Stäubli TX-40 robot.

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References

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Figures

Grahic Jump Location
Fig. 1

TX-40 robot and its calibrated payload of 4.59 kg

Grahic Jump Location
Fig. 2

Motor torques (joint side units) calculated with identified gains (full thick line) and with IDIM (dotted thick line) of the TX-40 with the payload of 4.59 kg

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