A novel approach for simplification of industrial robot dynamic model using interval method

Abstract

This paper proposes a new approach to simplify the dynamic model of industrial robot by means of interval method. Due to strong nonlinearities, some components of robot dynamic model such as the inertia matrix and the vector of centrifugal, Coriolis and gravitational torques, are very complicated for real-time control of industrial robots. Thus, a simplification algorithm is presented in this study in order to reduce the computation time and memory occupation. More importantly, this simplification is suitable for arbitrary trajectories in whole robot workspace. Furthermore, the method devotes to finding negligible inertia parameters, which is useful for robot model identification. A simulation has been carried out on a test trajectory using a 6-DOF industrial robot model, and the results have shown good performance and effectiveness of this method.

Improved subspace modal identification of industrial robots

“…To reduce the computational complexity, structural elastic deformation of robots is usually neglected, and the robots can be considered as rigid bodies to study their dynamic characteristics (K. Wang et al, 2014). The rigid assumption can simplify the dynamic problem and the calculation can also be simplified when establishing and solving the dynamic equation.…”

“…With the advent of the 21st century, industrial robots have been widely used in industrial production lines, especially in automobile assembly, aerospace, and electronic manufacturing (P. Cooper et al, 2019; X. V. Wang et al, 2017). The wide application of industrial robots reduces production costs while greatly improving production efficiency (K. Wang et al, 2014). However, due to low stiffness and high compliance problem, industrial robots will be inevitably easy to be vibrated by self‐excitation or periodic force dependent on workspace configuration (Nguyen et al, 2019; Nguyen & Melkote, 2020).…”

Towards achieving a fully intelligent robotic arc welding: a review

“…Dean-Leon et al (2012) designed a toolbox using the Denavit-Hartenberg (DH) and Euler-Lagrange Methodologies to compute the kinematic and dynamic models of the robot, in closed form and with symbolic representation. Also, owing to complexities and non-linearities associated with computing the inertia matrix and vector of centrifugal, Coriolis and gravitational torques in real-time control applications, an interval-based simplification algorithm was proposed by Wang et al (2014) to reduce the computational time and the memory occupation. Furthermore, software packages such as: Adams, Autolev, DynaMechs, Open-Dynamics, SDFast, SimMechanics, Webot, VRS, etc., have been developed to provide dynamic simulation capabilities for industrial robots.…”