A Two-Step Method for Dynamic Parameter Identification of Indy7 Collaborative Robot Manipulator
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. Such dynamic models are frequently restricted to identifying important system parameters and compens...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-12-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/22/24/9708 |
| _version_ | 1797455370835197952 |
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| author | Meseret Tadese Nabih Pico Sungwon Seo Hyungpil Moon |
| author_facet | Meseret Tadese Nabih Pico Sungwon Seo Hyungpil Moon |
| author_sort | Meseret Tadese |
| collection | DOAJ |
| description | 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. Such dynamic models are frequently restricted to identifying important system parameters and compensating for nonlinear terms. Friction, as a primary nonlinear element in robotics, has a significant impact on model accuracy. In this paper, a reliable dynamic friction model, which incorporates the influence of temperature fluctuation on the robot joint friction, is utilized to increase the accuracy of identified dynamic parameters. First, robot joint friction is investigated. Extensive test series are performed in the full velocity operating range at temperatures ranging from 19 °C to 51 °C to investigate friction dependency on joint module temperature. Then, dynamic parameter identification is performed using an inverse dynamics identification model and weighted least squares regression constrained to the feasible space, guaranteeing the optimal solution. Using the identified friction model parameters, the friction torque is computed for measured robot joint velocity and temperature. Friction torque is subtracted from the measured torque, and a non-friction torque is used to identify dynamic parameters. Finally, the proposed notion is validated experimentally on the Indy7 collaborative robot manipulator, and the results show that the dynamic model with parameters identified using the proposed method outperforms the dynamic model with parameters identified using the conventional method in tracking measured torque, with a relative improvement of up to 70.37%. |
| first_indexed | 2024-03-09T15:52:28Z |
| format | Article |
| id | doaj.art-4f0e7b2492874fd7aa53ffee98e99184 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T15:52:28Z |
| publishDate | 2022-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-4f0e7b2492874fd7aa53ffee98e991842023-11-24T17:54:02ZengMDPI AGSensors1424-82202022-12-012224970810.3390/s22249708A Two-Step Method for Dynamic Parameter Identification of Indy7 Collaborative Robot ManipulatorMeseret Tadese0Nabih Pico1Sungwon Seo2Hyungpil Moon3Department of Mechanical Engineering, Sungkyunkwan University, Suwon 16419, Gyeonggi-do, Republic of KoreaDepartment of Mechanical Engineering, Sungkyunkwan University, Suwon 16419, Gyeonggi-do, Republic of KoreaDepartment of Mechanical Engineering, Sungkyunkwan University, Suwon 16419, Gyeonggi-do, Republic of KoreaDepartment of Mechanical Engineering, Sungkyunkwan University, Suwon 16419, Gyeonggi-do, Republic of KoreaAccurate 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. Such dynamic models are frequently restricted to identifying important system parameters and compensating for nonlinear terms. Friction, as a primary nonlinear element in robotics, has a significant impact on model accuracy. In this paper, a reliable dynamic friction model, which incorporates the influence of temperature fluctuation on the robot joint friction, is utilized to increase the accuracy of identified dynamic parameters. First, robot joint friction is investigated. Extensive test series are performed in the full velocity operating range at temperatures ranging from 19 °C to 51 °C to investigate friction dependency on joint module temperature. Then, dynamic parameter identification is performed using an inverse dynamics identification model and weighted least squares regression constrained to the feasible space, guaranteeing the optimal solution. Using the identified friction model parameters, the friction torque is computed for measured robot joint velocity and temperature. Friction torque is subtracted from the measured torque, and a non-friction torque is used to identify dynamic parameters. Finally, the proposed notion is validated experimentally on the Indy7 collaborative robot manipulator, and the results show that the dynamic model with parameters identified using the proposed method outperforms the dynamic model with parameters identified using the conventional method in tracking measured torque, with a relative improvement of up to 70.37%.https://www.mdpi.com/1424-8220/22/24/9708dynamic parameters identificationfriction identificationfriction modelrobot dynamics |
| spellingShingle | Meseret Tadese Nabih Pico Sungwon Seo Hyungpil Moon A Two-Step Method for Dynamic Parameter Identification of Indy7 Collaborative Robot Manipulator Sensors dynamic parameters identification friction identification friction model robot dynamics |
| title | A Two-Step Method for Dynamic Parameter Identification of Indy7 Collaborative Robot Manipulator |
| title_full | A Two-Step Method for Dynamic Parameter Identification of Indy7 Collaborative Robot Manipulator |
| title_fullStr | A Two-Step Method for Dynamic Parameter Identification of Indy7 Collaborative Robot Manipulator |
| title_full_unstemmed | A Two-Step Method for Dynamic Parameter Identification of Indy7 Collaborative Robot Manipulator |
| title_short | A Two-Step Method for Dynamic Parameter Identification of Indy7 Collaborative Robot Manipulator |
| title_sort | two step method for dynamic parameter identification of indy7 collaborative robot manipulator |
| topic | dynamic parameters identification friction identification friction model robot dynamics |
| url | https://www.mdpi.com/1424-8220/22/24/9708 |
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