Identification of Dynamic Parameters for Robots with Elastic Joints

This paper presents a novel method for identifying dynamic parameters of robot manipulators with elastic joints. A procedure based on the Lagrangianm formulation of the dynamic model is proposed. Each term is inspected to search for a linear relationship with the dynamic parameters, thus enabling th...

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Bibliographic Details
Published in:Advances in Mechanical Engineering 2015-02, Vol.7 (2), p.1
Main Authors: Zollo, Loredana, Lopez, Edoardo, Spedaliere, Luca, Garcia Aracil, Nicolas, Guglielmelli, Eugenio
Format: Article
Language:English
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Summary:This paper presents a novel method for identifying dynamic parameters of robot manipulators with elastic joints. A procedure based on the Lagrangianm 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.
ISSN:1687-8132
1687-8140
1687-8132
DOI:10.1155/2014/843186