Experimental evaluation of parameter identification schemes on a direct-drive robot

Abstract

The dynamic and friction parameters of a robot are used in advanced control schemes, and their accuracy significantly affects their performance. These parameters can also be used for a realistic simulation. In principle, the numerical value of the parameters could be obtained via computer-aided design analysis but inevitable assembly and manufacturing errors exist. Direct measurement is not a realistic option because the complex nature of the system would involve an intense time-consuming effort. Alternatively, we can deduce the values of the parameters by observing the natural response of the system under appropriate experimental conditions, that is, by using identification schemes. This article presents the experimental evaluation of five identification schemes used to obtain the dynamic and friction parameters of a two-degree-of-freedom, direct-drive robot. We assume that the dynamic and friction parameters are totally unknown but, by design, the dynamic model is fully known. We consider the schemes based on the dynamic regression model, filtered-dynamic regression model, supplied-energy regression model, power regression model, and filtered-power regression model. The article presents a comparison between experimental and simulated robot responses, which enable us to verify the accuracy of each regression model.

A Family of Hyperbolic-Type Explicit Force Regulators with Active Velocity Damping for Robot Manipulators

“…The experimental results were obtained by using an experimental platform known as "Rotradi" [46], shown in Figure 1. This platform, designed and built at the Robotics Laboratory of Benemérita Universidad Autónoma de Puebla (BUAP) in Mexico, is a two-degree-of-freedom, direct-drive robot.…”

“…The communication between computers (for robot control and forcesensor readings) was enabled by using a communication protocol based on interruption signals, sent via parallel port. The complete dynamic model for our experimental robot is reported in [46]. However, the gravitational torques vector and the Jacobian matrix are written in an explicit form in order to explain the experiments performed in this paper.…”

Regulación Saturada con Ganancia Variable Derivativa de Robots Manipuladores

“…Para mantener esta propiedad, es necesario operar a los servomotores dentro del ancho de banda recomendado por el fabricante; la Tabla 2 muestra los límites de velocidad que deben ser operados los servomotores que forman las articulaciones del robot manipulador. Los parámetros del robot manipulador pueden ser encontrados en ; Chávez-Olivares et al (2012), en donde se realizó la identificación paramétrica utilizando diferentes esquemas de regresión.…”

Digital prototyping design of electromagnetic unmanned robot applied to automotive test

“…It has the characteristics of high efficiency, small size, light weight, high precision, fast dynamic response [11][12][13]. Many scholars design a direct drive robot with ball screws, lead screws, belt drives, Rack and pinion drives [14][15][16][17]. However, ball screws and lead screws have critical speed limitations.…”