Robot Dynamic Model Identification Through Excitation Trajectories Minimizing the Correlation Influence among Essential Parameters

Villagrossi, Enrico; Legnani, Giovanni; Pedrocchi, Nicola; Vicentini, Federico; Tosatti, Lorenzo Molinari; Abba, Fabio; Bottero, Aldo

doi:10.5220/0005060704750482

Cited by 7 publications

(4 citation statements)

References 21 publications

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“…The angular position of the motors is measured by using encoders and the velocity and the acceleration of the joints are determined from the position value by using an approach based on a Savitzky-Golay filter that uses a nth-order polynomial interpolation. The joint torque is determined by multiplying the measured motor current by the torque con- An accurate dynamic model of this robot is available [33,34]. Table 3: Position and speed joints limits.…”

Section: Methodsmentioning

confidence: 99%

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Modelling the temperature in joint friction of industrial manipulators

Simoni¹,

Beschi²,

Legnani³

et al. 2017

Robotica

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In this paper, a new model for joint dynamic friction of industrial robot manipulators is presented. In particular, the effects of the temperature in the joints are considered. A polynomial-based model is proposed and the parameter estimation is performed without the need of a joint temperature sensor. The use of an observer is then proposed to compensate for the uncertainty in the initial estimation of the temperature value. A large experimental campaign show that the model, in spite of the simplifying assumptions made, is effective in estimating the joint temperature and therefore the friction torque during the robot operations, even for values of velocities that have not been previously employed.

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Section: Methodsmentioning

confidence: 99%

“…The reference position values of each joint are updated at a sampling rate of 2 ms. An accurate dynamic model of this robot is available in refs. [33,34].…”

Section: Methodsmentioning

confidence: 99%

Modelling the temperature in joint friction of industrial manipulators

Simoni¹,

Beschi²,

Legnani³

et al. 2017

Robotica

Self Cite

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“…Four cases have been distinguished to correctly determine the evaluation period, as indicated in Using the Comau eORL library (see Section IV-A) each motion is simulated off-line, and the associated energy is computed taking into account the mechanical power P mecc of each actuated joint, and the power P diss dissipated by the various elements of the system, cables, motors, electric drives and auxiliary components included. The off-line computation of the energy consumption is performed estimating the overall electrical power P tot absorbed during the motion, according to the complete dynamic model directly developed by CO-MAU (similar approaches can be found in [13]- [15]). P tot is computed in each sampling step of the evaluation period as:…”

Section: B Evaluation Of the Energy Consumptionmentioning

confidence: 99%

An off-line robot motion planning approach for the reduction of the energy consumption

Fenucci

Indri

Romanelli

2016

2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)

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The paper proposes an off-line robot motion planning approach, aimed at the reduction of the energy consumption, for any trajectory defined on a set of target points including some "fly" ones, i.e., points that must not be exactly reached by the robot. The proposed solution is based on the search for alternative paths close to the fly target points originally defined by the operator, and on the computation of the mechanical and total energy associated to each single possible motion defined for the generated alternative paths. A branch and bound algorithm is employed to scan all the possible motions and find the complete trajectory that corresponds to the minimum energy consumption. The approach has been implemented in a software architecture that exploits some COMAU software modules, but it could be easily adapted to generic, similar modules. The results that have been experimentally obtained for two typical industrial cycles, performed by a COMAU Racer robot, can be considered as very satisfying.

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“…Then, the parameters that better predict the measured torques are estimated. Several criteria have been proposed to optimize the trajectory [10,11]. In this paper, the excitation trajectory is designed based on the finite Fourier series introduced by J. Swevers [12], with the benefit of data averaging in the time domain and reducing the measurement noise effect.…”

Section: Introductionmentioning

confidence: 99%

Dynamic and Friction Parameters of an Industrial Robot: Identification, Comparison and Repetitiveness Analysis

et al. 2021

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This paper describes the results of dynamic tests performed to study the robustness of a dynamics model of an industrial manipulator. The tests show that the joint friction changes during the robot operation. The variation can be identified in a double exponential law and thus the variation can be predicted. The variation is due to the heat generated by the friction. A model is used to estimate the temperature and related friction variation. Experimental data collected on two robots EFORT ER3A-C60 are presented and discussed. Repetitive tests performed on different days showed that the inertial and friction parameters can be robustly estimated and that the value of the measured joint friction can be used to estimate the unexpected conditions of the joints. Future applications may include sensorless identification of collisions, predictive maintenance programs, or human–robot interaction.

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Robot Dynamic Model Identification Through Excitation Trajectories Minimizing the Correlation Influence among Essential Parameters

Cited by 7 publications

References 21 publications

Modelling the temperature in joint friction of industrial manipulators

Modelling the temperature in joint friction of industrial manipulators

An off-line robot motion planning approach for the reduction of the energy consumption

Dynamic and Friction Parameters of an Industrial Robot: Identification, Comparison and Repetitiveness Analysis

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