This paper presents a novel method for identifying dynamic parameters of robot manipulators with elastic joints. A procedure based on the Lagrangian formulation of the dynamic model is proposed. Each term is inspected to search for a linear relationship with the dynamic parameters, thus enabling the linearization of robot dynamic model. Hence, the torque vector is expressed as the product of a regressor matrix, suitably defined by the vector of dynamic parameters. A parametric identification based on a least-squares technique is applied to determine dynamic parameters of robots with elastic joints. The correctness of the proposed procedure has been tested in simulation on two robotic structures with elastic joints of different complexity, that is, a 2-degree-of-freedom (dof) and a 6-dof manipulator, controlled with a PD control in the joint space.
Identification of dynamic parameters for robots with elastic joints
Zollo L;Guglielmelli E
2015-01-01
Abstract
This paper presents a novel method for identifying dynamic parameters of robot manipulators with elastic joints. A procedure based on the Lagrangian formulation of the dynamic model is proposed. Each term is inspected to search for a linear relationship with the dynamic parameters, thus enabling the linearization of robot dynamic model. Hence, the torque vector is expressed as the product of a regressor matrix, suitably defined by the vector of dynamic parameters. A parametric identification based on a least-squares technique is applied to determine dynamic parameters of robots with elastic joints. The correctness of the proposed procedure has been tested in simulation on two robotic structures with elastic joints of different complexity, that is, a 2-degree-of-freedom (dof) and a 6-dof manipulator, controlled with a PD control in the joint space.File | Dimensione | Formato | |
---|---|---|---|
ElasticJoints_AdvMechEng_published.pdf
accesso aperto
Tipologia:
Altro materiale allegato
Licenza:
Creative commons
Dimensione
1.79 MB
Formato
Adobe PDF
|
1.79 MB | Adobe PDF | Visualizza/Apri |
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.