Dynamic parameter identification of robot arms with servo-controlled electrical motors

Zhao-Hui Jiang; Hiroshi Senda

doi:10.1117/12.664692

2 May 2006 Dynamic parameter identification of robot arms with servo-controlled electrical motors

Zhao-Hui Jiang, Hiroshi Senda

Proceedings Volume 6042, ICMIT 2005: Control Systems and Robotics; 604235 (2006) https://doi.org/10.1117/12.664692
Event: ICMIT 2005: Merchatronics, MEMS, and Smart Materials, 2005, Chongqing, China

Abstract

This paper addresses the issue of dynamic parameter identification of the robot manipulator with servo-controlled electrical motors. An assumption is made that all kinematical parameters, such as link lengths, are known, and only dynamic parameters containing mass, moment of inertia, and their functions need to be identified. First, we derive dynamics of the robot arm with a linear form of the unknown dynamic parameters by taking dynamic characteristics of the motor and servo unit into consideration. Then, we implement the parameter identification approach to identify the unknown parameters with respect to individual link separately. A pseudo-inverse matrix is used for formulation of the parameter identification. The optimal solution is guaranteed in a sense of least-squares of the mean errors. A Direct Drive (DD) SCARA type industrial robot arm AdeptOne is used as an application example of the parameter identification. Simulations and experiments for both open loop and close loop controls are carried out. Comparison of the results confirms the correctness and usefulness of the parameter identification and the derived dynamic model.

Citation Download Citation

Zhao-Hui Jiang and Hiroshi Senda "Dynamic parameter identification of robot arms with servo-controlled electrical motors", Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 604235 (2 May 2006); https://doi.org/10.1117/12.664692

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