This paper presents the identification process aimed at estimating the model parameters of a COMAU Smart S2 industrial robot for controller design purposes. The principal challenges are given by the presence of a controller-in-the-loop, and the absence of sensors to measure joint accelerations and velocities. A method valid in this context has been applied, and suitable trajectories were generated in order to avoid to excite the unmodelled plant dynamic while allowing to compute analytically the joint velocities and accelerations. This method was then applied to a real 6 degrees of freedom (DoF) industrial robot, estimating and using its parameters to design new improved model-based controllers.
The identification process aimed at estimating the model parameters of a COMAU Smart S2 industrial robot for controller design purposes is presented. The principal challenges include the existence of a controller-in-the-loop and the absence of joint sensors for acceleration and velocity measurements. A method valid in this context has been applied, and suitable trajectories were generated to avoid the excitation of the unmodelled dynamics. This method was applied to an industrial robot, its parameters estimated and used for the design of a model-based controller.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.