Parameter identification for industrial robots with a fast and robust trajectory design approach

Jin, Jingfu; Gans, Nicholas

doi:10.1016/j.rcim.2014.06.004

Cited by 141 publications

(84 citation statements)

References 29 publications

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“…Where Y is the linear regressor and α is the set of the base parameters. They can be the combinations of the mass, inertia, friction and gravity parameters [11,15]. These base parameters can be identified using the least squares method:…”

Section: Fig 1: Motoman Up6 Manipulator (Yaskawa)mentioning

confidence: 99%

Dynamic Parameter Identification of UP6 Robot Manipulator using SFLA

Nguyen¹

2018

IJCA

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The paper proposes a method using Shuffled Frog Leaping Algorithm (SFLA) to identify dynamic parameters of MOTOMAN UP6 robot manipulator. In this paper, the physical parameters of UP6 including mass, inertia, frictions of the first three joints will be estimated directly without parameterization. SFLA method is also used to find the optimal excitation trajectories. Simulated results verify the effectiveness of SFLA approach, and show that the proposed method achieves a high accuracy.

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Section: Fig 1: Motoman Up6 Manipulator (Yaskawa)mentioning

confidence: 99%

Dynamic Parameter Identification of UP6 Robot Manipulator using SFLA

Nguyen¹

2018

IJCA

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“…In order to cope with these constraints the literature regarding serial manipulators proposes to generate exciting motions using optimization approaches. Most of these use joint trajectory represented by Fourier Series [9], [10], [11] or B-splines [12] that minimize a criterion related to the condition number of the whole regressor [11], [13]. These methods have been applied and extended to humans [14].…”

Section: A State Of the Art In Model Based Dynamics Identificationmentioning

confidence: 99%

“…with c S = {1, 2, 3, 5, 6, 8, 9} and c D = {4, 7, 10}. The benefit of the proposed cost function, J exc , was highlighted by comparing the produced exciting motions with those obtained from the minimization of the condition number of the total BP regressor J cond = cond(W b ) which is commonly used in industrial robotics [11]. The two optimization processes were to find the joint angle values at N K = 4 via points, equally distributed over the whole trajectory of T F = 2s, that minimize the above mentioned criteria under the constraint that the B-spline interpolated joint trajectories respect the joint limitations q − j ≤ BS j (kT s, q j ) ≤ q + j , k = 1, ..., (n − 1).…”

Section: B Excitation Criterionmentioning

confidence: 99%

Optimal Exciting Dance for Identifying Inertial Parameters of an Anthropomorphic Structure

et al. 2016

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International audienceKnowledge of the mass and inertial parameters of a humanoid robot or a human being is crucial for the development of model-based control as well as for monitoring the rehabilitation process. These parameters are also important for obtaining realistic simulations in the field of motion planning and human motor control. For robots they are often provided by CAD data while averaged anthropometric tables values are often used for human subjects. The unit/subject specific inertial parameters can be identified using the external wrench caused the ground reaction. However, the identification accuracy intrinsically depends on the excitation properties of the recorded motion. In this paper, a new method for obtaining optimal excitation motions is proposed. This method is based on the identification model of legged systems and on optimization processes to generate excitation motions while handling mechanical constraints. A pragmatic decomposition of this problem, the use of a new excitation criterion and a quadratic program to identify inertial parameters are proposed. The method has been experimentally validated onto a HOAP-3 humanoid robot and with one human subject

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“…This is done using certain steps After designing of the manipulator the control system that should be implemented should be able to make the manipulator work without imploding [2] PID controllers are not suitable for high speed operation [3] since the computational parameters can be effectively found with computed torque control and feed forward dynamic If the manipulator is designed with a control system that is modeled based on torque level control , precision of the system is increased [4]. Taguchi method based on Stochastic colored Petri nets (SCPN) [5] is one of the effective methods to program a system to be a potential automatic storage and retrieval system (ASRS). Conventional storage unit and ASRS units are vastly different not only on human interface [6] but to organization and inventory management.…”

Section: Introductionmentioning

confidence: 99%

Design and Development of IoT Integrated PLC Based Material Handling System

Selvakumar¹

2019

IJEAT

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The industry faces with constant demand of tremendous Production criteria to be met with human workers this production rate is highly likely to fall behind as the time progresses, to solve the problem to obtain continuous production without any interruption, this paper helps understand how a manipulator will work for a very basic operations and how will the industry executive will be able to manage the shop floor. This project aims to show how a PLC is used in a automation and how a PLC based system is integrated with a IoT platform

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Parameter identification for industrial robots with a fast and robust trajectory design approach

Cited by 141 publications

References 29 publications

Dynamic Parameter Identification of UP6 Robot Manipulator using SFLA

Dynamic Parameter Identification of UP6 Robot Manipulator using SFLA

Optimal Exciting Dance for Identifying Inertial Parameters of an Anthropomorphic Structure

Design and Development of IoT Integrated PLC Based Material Handling System

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