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DOI:10.1163/1568553053020269 - Corpus ID: 28352368
@article{Mata2005DynamicPI, title={Dynamic parameter identification in industrial robots considering physical feasibility}, author={Vicente Mata and Francesc Benimeli and Nidal Farhat and {\'A}ngel Valera}, journal={Advanced Robotics}, year={2005}, volume={19}, pages={101 - 119}, url={https://api.semanticscholar.org/CorpusID:28352368}}- V. Mata, F. Benimeli, Á. Valera
- Published in Adv. Robotics 1 January 2005
- Engineering
- Advanced Robotics
The set of physically feasible dynamic parameters is used in an integration of the equations of motion of the robot and the results of the simulation are compared with the robot actual movement.
61 Citations
3
19
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Topic
Rigid-link Robots (opens in a new tab)
61 Citations
- O. F. ArginZ. Y. Bayraktaroglu
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Comparison of computed external forces with measured ones by an F/T transducer shows that the dynamic model obtained with the proposed method provides an accurate estimation.
- 4
- Nidal FarhatV. Mata
- 2007
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This paper deals with the identification problem of the inertial and frictional parameters of a para llel manipulator. Two important issue are considered; th e physical feasibility of the identified…
- 8
- PDF
- N. D. VuongM. Ang
- 2009
Engineering
In this paper, a systematic procedure for identifying the dynamics of industrial robots is presented. Since joint friction can be highly nonlinearwith time varying characteristics in the low speed…
- 168
- PDF
- Nidal FarhatV. MataÁ. PageF. Valero
- 2008
Engineering
- 106
- M. Díaz-RodríguezV. MataÁ. ValeraÁ. Page
- 2010
Engineering
- 64
- PDF
- Yvonne R. StürzL. AffolterRoy S. Smith
- 2017
Engineering
- 49
- PDF
- M. TadeseNabih PicoSungwon SeoH. Moon
- 2022
Engineering
Sensors
Accurate dynamic model is critical for collaborative robots to achieve satisfactory performance in model-based control or other applications such as dynamic simulation and external torque estimation.…
- M. Díaz-RodríguezV. MataNidal FarhatS. Provenzano
- 2008
Engineering, Computer Science
This paper addresses the identifiability of the dynamic parameters of a class of parallel robot, in the presence of noise in measurement and discrepancy in modeling, by means of a simulated robot and over an actual parallel 3-RPS robot.
- 16
- M. Díaz-RodríguezX. IriarteV. MataJ. Ros
- 2009
Computer Science, Engineering
Adv. Robotics
The results of the identification using trajectories based on a single criterion and the multicriteria approaches are compared, showing that the proposed optimization can be considered as a suitable procedure for designing exciting trajectories for parameter identification.
- 18
- C. GazMarco CognettiA. OlivaPaolo Robuffo GiordanoAlessandro De Luca
- 2019
Engineering
IEEE Robotics and Automation Letters
The approach is developed for the increasingly popular Panda robot, identifying for the first time its dynamic coefficients, an accurate joint friction model, and a set of feasible dynamic parameters that are fundamental for more realistic dynamic simulations or when implementing in real time robot control laws using recursive Newton-Euler algorithms.
- 164
- PDF
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27 References
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Engineering
J. Field Robotics
A new method is developed for the determination of optimal joint trajectories for the calibration experiment, which is based on evolutionary optimization techniques and a genetic algorithm is used to determine excitation trajectories that minimize either the condition number of the regression matrix or the logarithmic determinant of the Fisher information matrix.
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IEEE Trans. Robotics Autom.
Experiments on an industrial robot show that the presented trajectory design and maximum-likelihood parameter estimation approaches complement each other to make a practicable robot identification technique which yields accurate robot models.
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An algorithm for solving Inverse Dynamic Problem based on the Gibbs-Appell equations is proposed and verified using mainly vectorial variables, and the equations are expressed in a recursive form, it has a computational complexity of O(n).
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A sufficient condition for the inertial matrix to be positive definite for each configuration of the manipulators is given by use of physical inertial parameters of the links composing the manipulator and a scheme is given to judge if a set of base-parameter values determine the inertials matrix toBe always positive definite or not.
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Computer Science, Engineering
IEEE Trans. Robotics Autom.
A new method for determining parameters of a dynamical robot model based on experiments is presented, which is compared with existing methods both theoretically and experimentally, and it is shown that some improvements in the parameter values are achieved by using the new method.
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Engineering
[1991] Proceedings of the 30th IEEE Conference on…
A common way to identify the inertial parameters of robots is to use a linear model in relation to the parameters and standard least-squares (LS) techniques. This article presents a method to…
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Computer Science, Engineering
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Algorithms for the identification of the following robot dynamics parameters are presented: link center of mass positions, link inertia matrices, joint friction coefficients, load mass, load center…
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Engineering
Fifth International Conference on Advanced…
A common idea to identify the inertial parameters of robots is to use linear model in the parameters and standard least squares (LS) techniques. These techniques are sensitive to noise measurements…
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Engineering
J. Field Robotics
An off-line identification method is presented to estimate the minimal knowledge of the inertia parameters for determining the dynamic model of a manipulator and this set is recursively estimated by moving one joint at a time.
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Engineering
The inertial parameters of manipulator rigid-body loads and links have been automatically estimated as a result of gen eral movement. The Newton-Euler equations have been recast to relate linearly…
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