OpenSYMORO: An open-source software package for symbolic modelling of robots

Khalil, Wisama; Vijayalingam, Aravindkumar; Khomutenko, Bogdan; Mukhanov, Izzatbek; Lemoine, Philippe; Écorchard, Gaël

doi:10.1109/aim.2014.6878246

Cited by 42 publications

(28 citation statements)

References 12 publications

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“…2. By using the SYMORO+ software package [Khalil andCreusot, 1997, Khalil et al, 2014] with these parameters, the dynamical model of the robot for the identification is obtained. The base parameters vector θ B is of dimension (48 × 1), and the regressor matrix D B is of dimension (6 × 48).…”

Section: Dynamic Identification Model Of the Robotmentioning

confidence: 99%

Dynamic Parameters Identification of an Industrial Robot: A Constrained Nonlinear WLS Approach

Bahloul¹,

Tliba²,

Chitour³

2018

2018 26th Mediterranean Conference on Control and Automation (MED)

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This paper brings an identified model for a 6 degrees of freedom (dof) industrial robot, the Denso VP-6242G robot, with an end-effector composed of a spherical handle, fixed on a force sensor. This robot is intended to experiments in the field of Physical Human-Robot Interactions (PHRIs), for co-manipulation purposes. The control algorithms that are necessary to achieve a good PHRI, require a good knowledge of the robot dynamical model, especially the inertia matrix which should be positive definite whatever the configuration of the robot. However, most of industrial robots are supplied without any datasheet containing the inertial parameters nor Computer-Aided-Design (CAD) model. Hence, we propose to apply an identification procedure to experimental data, based on the Inverse Dynamic model Identification Method (IDIM). To ensure the positive definiteness of the inertia matrix, the used optimization step addresses the problem of nonlinear Weighted Least Squares (WLS), derived from the mathematical formulation of the identification problem, under a set of nonlinear constraints in the parameters. A validation step permits to check the efficiency of this approach for the Denso robot.

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Section: Dynamic Identification Model Of the Robotmentioning

confidence: 99%

Dynamic Parameters Identification of an Industrial Robot: A Constrained Nonlinear WLS Approach

Bahloul¹,

Tliba²,

Chitour³

2018

2018 26th Mediterranean Conference on Control and Automation (MED)

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“…The linear combination can be generated in different ways depending on the subset of parameters that are selected. The approach proposed by Gautier (1991) for serial robots suggests that should be selected by starting with the first row of the subset of the matrix providing a linear relationship of the parameters; this approach has been implemented in the open source OpenSYMORO packages (Khalil et al, 2014).…”

Section: Linear Model In Base Parametersmentioning

confidence: 99%

Controller–observer design and dynamic parameter identification for model-based control of an electromechanical lower-limb rehabilitation system

Valera

Díaz‐Rodríguez

Vallés

et al. 2016

International Journal of Control

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Rehabilitation is a hazardous task for a mechanical system, since the device has to interact with the human extremities without the hands-on experience the physiotherapist acquires over time. A gap needs to be filled in terms of designing effective controllers for this type of devices. In this respect, the paper describes the design of a model-based control for an electromechanical lower-limb rehabilitation system based on a Parallel Kinematic Mechanism. A controller observer was designed for estimating joint velocities, which are then used in a hybrid position/force control scheme. The model parameters are identified by customizing an approach based on identifying only the relevant system dynamics parameters. Findings obtained through simulations show evidence of improvement in tracking performance compared with those where the velocity was estimated by numerical differentiation. The controller is also implemented in an actual electromechanical system for lower-limb rehabilitation tasks. Findings based on rehabilitation tasks confirm the findings from simulations.

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“…A symbolic form of the dynamic model for the painting arm is obtained easily using OpenSYMORO software package [16] by feeding the table of geometric parameters presented in [9]. In order to enable further enhancement in the dynamic modeling and control of the RoboPainter, complete inertial parameters; masses, C.G point coordinates, inertia tensors of each link together with the rotor inertia and motor torque constants for the mobile base and the painting arm are provided in appendix I.…”

Section: B Painting Arm Modelmentioning

confidence: 99%

RoboPainter — A detailed robot design for interior wall painting

Sorour

2015

2015 IEEE International Workshop on Advanced Robotics and Its Social Impacts (ARSO)

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OpenSYMORO: An open-source software package for symbolic modelling of robots

Cited by 42 publications

References 12 publications

Dynamic Parameters Identification of an Industrial Robot: A Constrained Nonlinear WLS Approach

Dynamic Parameters Identification of an Industrial Robot: A Constrained Nonlinear WLS Approach

Controller–observer design and dynamic parameter identification for model-based control of an electromechanical lower-limb rehabilitation system

RoboPainter — A detailed robot design for interior wall painting

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