Dynamic Model Identification for Industrial Robots.docVIP

Acta Polytechnica Hungarica Vol. 6, No. 5, 2009 Dynamic Model Identification for Industrial Robots Ngoc Dung Vuong, Marcelo H. Ang Jr. Department of Mechanical Engineering, Engineering Faculty National University of Singapore 9 Engineering Dr 1, 117576 Singapore ndvuong, mpeangh@.sg Abstract: 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 region,a simple and yet effective scheme has been used to identify the boundary velocity that separates this “dynamic” friction region from its static region. The robot’s dynamic model is then identified in this static region, where the nonlinnear friction model is reduced to the linear-in-parameter form. To overcome the drawbacks of the least squares estimator, which does not take in any constraints, a nonlinear optimization problem is formulated to guarantee the physical feasibility of the identified parameters. The proposed procedure has been demonstrated on the first four links of the Mitsubishi PA10 manipulator, an improved dynamic model was obtained and the the effectiveness of the proposed identification procedure is demonstrated. Keywords: Dynamic Modeling, Model Identification, Friction Models, Model-based Control 1 Introduction The robot’s dynamic model is required in the implementation of most advanced model-based control schemes. The dynamic model is crucial because it can be used to linearize the nonlinear system in both joint space [1] and task space [2]. Since the robot’s dynamic parameters are normally not available for industrial manipulators, proper procedures should be carried out to identify these parameters. One way to identify the dynamic parameters is to dismantle the robot and measure link by link [3]. However,