Identification of the barycentric parameters of robot manipulators from external measurements

Raucent, Benoît; Campion, G.; Bastin, Georges; Samin, Jean-Claude; Willems, Pierre Y.

doi:10.1016/0005-1098(92)90155-9

Cited by 43 publications

(14 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This coupling between barycentric and friction parameters may degrade the accuracy of the barycentric parameter estimates. An alternative approach has been proposed in order to avoid the above drawbacks [8][9][10]. It is based on a reformulation of the system dynamics relating the motion of the robot to the reaction forces and torques on its bedplate.…”

Section: Application To the Puma Robotmentioning

confidence: 99%

“…In the fourth section of this paper, an original procedure for the estimation of the barycentric parameters of a robot is presented [8][9][10]. This procedure is based on the property that the relations between the robot motion and its reactions on the bedplate are completely independent of the internal joints forces.…”

Section: Introductionmentioning

confidence: 99%

“…This procedure is based on the property that the relations between the robot motion and its reactions on the bedplate are completely independent of the internal joints forces. The procedure thus requires only the processing of measurements provided by an external experimental set-up [8]. The robot is placed on a sensing platform which is provided with sensors able to measure the three components of the forces and the three components of the torques between the bedplate and the first link of the robot.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Minimal dynamic characterization of tree-like multibody systems

1996

Self Cite

View full text Add to dashboard Cite

Abstract. The dynamic model of tree-like multibody systems is linear with respect to the parameters of mass distribution for instance when barycentric parameters are used. Thus, assuming that the parameters related to the kinematics are perfectly known, these quantities can be estimated through linear regression techniques. The necessary data are obtained by measuring the joint forces and/or torques and the resulting motion given in terms of positions, velocities and accelerations. An alternative method uses measurements of the reaction forces and torques applied to the bedplate. The linearity of the dynamic and reaction models with respect to the barycentric quantities does not however imply that the latter constitute the minimum set of parameters characterizing the mass distribution of the system. In other words, some barycentric parameters may disappear from the models or may be redundant in the sense that they appear only via linear combinations. In the first case they are not identifiable, while in the second case the linear regression technique leads to estimated values which are correct for the combinations but can be erroneous for the individual parameters. The various options taken to derive the dynamic and reaction models by use of the ROBOTRAN programme are briefly reviewed. Then the rules leading to the minimal parametrization are presented and illustrated by means of a practical example related to a robot calibration problem.

show abstract

Section: Application To the Puma Robotmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Minimal dynamic characterization of tree-like multibody systems

1996

Self Cite

View full text Add to dashboard Cite

show abstract

“…These estimations can also help to improve the mechanical conception during retro-engineering steps… It comes that the identification process must be as accurate and reliable as possible. The most popular identification methods are based on the least-squares (LS) regression "because of its simplicity" (Atkeson et al, 1986), (Swevers et al, 1997), (Ha et al, 1989), (Kawasaki & Nishimura 1988), (Khosla & Kanade 1985), (Kozlowski 1998), (Prüfer et al, 1994) and (Raucent et al, 1992). In the last two decades, the IRCCyN robotic team has designed an identification process using IDM of robots and LS regressions which will be developed in the second part of this chapter.…”

Section: Introductionmentioning

confidence: 99%

Experimental Identification of the Inverse Dynamic Model: Minimal Encoder Resolution Needed Application to an Industrial Robot Arm and a Haptic Interface

Marcassus¹,

Janot²,

Vandanjon³

et al. 2008

Robot Manipulators

View full text Add to dashboard Cite

“…Such a model has been used for long in many biomechanical applications since, in this case, the joints torques are usually not available (see, for example, [9]). The robot motion can be measured by means of joint encoders (internal sensors) or by means of a high-precision visual position sensor (external sensor) [7]. The reaction forces and torques are measured by means of an external sensor: a force/torque platform.…”

Section: Introductionmentioning

confidence: 99%