Open AccessIdentification of Dynamic Parameters for Robots with Elastic Joints
Author(s) -
Loredana Zollo,
Edoardo Lopez,
Luca Spedaliere,
Nicolás García-Aracil,
Eugenio Guglielmelli
Publication year - 2014
Publication title -
advances in mechanical engineering/advances in mechanical engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.318
H-Index - 40
eISSN - 1687-8140
pISSN - 1687-8132
DOI - 10.1155/2014/843186
Subject(s) - control theory (sociology) , robot , correctness , torque , parametric statistics , computer science , linearization , system identification , engineering , mathematics , nonlinear system , algorithm , artificial intelligence , data modeling , control (management) , physics , statistics , quantum mechanics , database , thermodynamics
This paper presents a novel method for identifying dynamic parameters of robot manipulators with elastic joints. A procedure based on the Lagrangianm formulation of the dynamic model is proposed. Each term is inspected to search for a linear relationship with the dynamic parameters, thus enabling the linearization of robot dynamic model. Hence, the torque vector is expressed as the product of a regressor matrix, suitably defined by the vector of dynamic parameters. A parametric identification based on a least-squares technique is applied to determine dynamic parameters of robots with elastic joints. The correctness of the proposed procedure has been tested in simulation on two robotic structures with elastic joints of different complexity, that is, a 2-degree-of-freedom (dof) and a 6-dof manipulator, controlled with a PD control in the joint space