Modelling and identification of robots with joint and drive flexibilities

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67 Downloads (Pure)

Abstract

This paper deals with modelling and identification of flexible-joint robot models that can be used for dynamic simulation and model based control of industrial robots. A nonlinear finite element based method is used to derive the dynamic equations of motion in a form suitable for both simulation and identification. The latter requires that the equations of motion are linear in the dynamic parameters. For accurate simulations of the robot tip motion the model should describe the relevant dynamic properties such as joint friction and flexibilities. Both the drive and the joint flexibilities are included in the model. Joint friction is described by means of a static friction model, including Coulomb and viscous friction components. The dynamic parameters describing mass, inertia, stiffness, damping and friction properties are obtained from a least squares solution of an over determined linear system assembled from closed loop identification experiments. In the identification experiment the robot moves along a prescribed trajectory while all joint angles, flexible deformations and driving torques are recorded. In order to excite joint vibrations during the identification feed forward torques at frequencies above the bandwidth of the control system are superposed on the joint torques. The applicability of the method is demonstrated in a numerical study of a four link industrial robot.
Original languageUndefined
Title of host publicationProceedings of the IUTAM Symposium on Vibration Control of Nonlinear Mechanisms and Structures, 19-22 July 2005, Munich Germany
EditorsH. Ulrich, W. Günther
Place of PublicationMünchen, Germany
PublisherSpringer
Pages173-182
Number of pages10
ISBN (Print)1-4020-4160-8
Publication statusPublished - 19 Jul 2005

Publication series

Name
PublisherSpringer Verlag

Keywords

  • METIS-224347
  • IR-52668

Cite this

Hardeman, T., Aarts, R. G. K. M., & Jonker, J. B. (2005). Modelling and identification of robots with joint and drive flexibilities. In H. Ulrich, & W. Günther (Eds.), Proceedings of the IUTAM Symposium on Vibration Control of Nonlinear Mechanisms and Structures, 19-22 July 2005, Munich Germany (pp. 173-182). München, Germany: Springer.
Hardeman, T. ; Aarts, Ronald G.K.M. ; Jonker, Jan B. / Modelling and identification of robots with joint and drive flexibilities. Proceedings of the IUTAM Symposium on Vibration Control of Nonlinear Mechanisms and Structures, 19-22 July 2005, Munich Germany. editor / H. Ulrich ; W. Günther. München, Germany : Springer, 2005. pp. 173-182
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title = "Modelling and identification of robots with joint and drive flexibilities",
abstract = "This paper deals with modelling and identification of flexible-joint robot models that can be used for dynamic simulation and model based control of industrial robots. A nonlinear finite element based method is used to derive the dynamic equations of motion in a form suitable for both simulation and identification. The latter requires that the equations of motion are linear in the dynamic parameters. For accurate simulations of the robot tip motion the model should describe the relevant dynamic properties such as joint friction and flexibilities. Both the drive and the joint flexibilities are included in the model. Joint friction is described by means of a static friction model, including Coulomb and viscous friction components. The dynamic parameters describing mass, inertia, stiffness, damping and friction properties are obtained from a least squares solution of an over determined linear system assembled from closed loop identification experiments. In the identification experiment the robot moves along a prescribed trajectory while all joint angles, flexible deformations and driving torques are recorded. In order to excite joint vibrations during the identification feed forward torques at frequencies above the bandwidth of the control system are superposed on the joint torques. The applicability of the method is demonstrated in a numerical study of a four link industrial robot.",
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Hardeman, T, Aarts, RGKM & Jonker, JB 2005, Modelling and identification of robots with joint and drive flexibilities. in H Ulrich & W Günther (eds), Proceedings of the IUTAM Symposium on Vibration Control of Nonlinear Mechanisms and Structures, 19-22 July 2005, Munich Germany. Springer, München, Germany, pp. 173-182.

Modelling and identification of robots with joint and drive flexibilities. / Hardeman, T.; Aarts, Ronald G.K.M.; Jonker, Jan B.

Proceedings of the IUTAM Symposium on Vibration Control of Nonlinear Mechanisms and Structures, 19-22 July 2005, Munich Germany. ed. / H. Ulrich; W. Günther. München, Germany : Springer, 2005. p. 173-182.

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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T1 - Modelling and identification of robots with joint and drive flexibilities

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AU - Aarts, Ronald G.K.M.

AU - Jonker, Jan B.

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N2 - This paper deals with modelling and identification of flexible-joint robot models that can be used for dynamic simulation and model based control of industrial robots. A nonlinear finite element based method is used to derive the dynamic equations of motion in a form suitable for both simulation and identification. The latter requires that the equations of motion are linear in the dynamic parameters. For accurate simulations of the robot tip motion the model should describe the relevant dynamic properties such as joint friction and flexibilities. Both the drive and the joint flexibilities are included in the model. Joint friction is described by means of a static friction model, including Coulomb and viscous friction components. The dynamic parameters describing mass, inertia, stiffness, damping and friction properties are obtained from a least squares solution of an over determined linear system assembled from closed loop identification experiments. In the identification experiment the robot moves along a prescribed trajectory while all joint angles, flexible deformations and driving torques are recorded. In order to excite joint vibrations during the identification feed forward torques at frequencies above the bandwidth of the control system are superposed on the joint torques. The applicability of the method is demonstrated in a numerical study of a four link industrial robot.

AB - This paper deals with modelling and identification of flexible-joint robot models that can be used for dynamic simulation and model based control of industrial robots. A nonlinear finite element based method is used to derive the dynamic equations of motion in a form suitable for both simulation and identification. The latter requires that the equations of motion are linear in the dynamic parameters. For accurate simulations of the robot tip motion the model should describe the relevant dynamic properties such as joint friction and flexibilities. Both the drive and the joint flexibilities are included in the model. Joint friction is described by means of a static friction model, including Coulomb and viscous friction components. The dynamic parameters describing mass, inertia, stiffness, damping and friction properties are obtained from a least squares solution of an over determined linear system assembled from closed loop identification experiments. In the identification experiment the robot moves along a prescribed trajectory while all joint angles, flexible deformations and driving torques are recorded. In order to excite joint vibrations during the identification feed forward torques at frequencies above the bandwidth of the control system are superposed on the joint torques. The applicability of the method is demonstrated in a numerical study of a four link industrial robot.

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Hardeman T, Aarts RGKM, Jonker JB. Modelling and identification of robots with joint and drive flexibilities. In Ulrich H, Günther W, editors, Proceedings of the IUTAM Symposium on Vibration Control of Nonlinear Mechanisms and Structures, 19-22 July 2005, Munich Germany. München, Germany: Springer. 2005. p. 173-182