Dynamic Model Identification for 6-DOF Industrial Robots

Identification of 6 DOF Rigid Industrial Robots with the Instrumental Variable Method

This paper deals with the topic of robots dynamics identification. In this paper, we focus on the instrumental variable (IV) technique. For robots, the set of instruments is the inverse dynamic model built from simulated data which are calculated from the integration of the direct dynamic model, assuming the same reference trajectories and the same control law structure for both actual and simu...

Dynamic identification of a 6 dof industrial robot with a closed-loop output error method

Off-line robot dynamic identification methods are mostly based on the use of the inverse dynamic model, which is linear with respect to the dynamic parameters. This model is sampled while the robot is tracking reference trajectories that excite the system dynamics. This allows using linear least-squares techniques to estimate the parameters. This method requires the joint force/torque and posit...

Automatic Model Identification of ABB Industrial Robots

In this paper we present an automatic model identification tool of ABB's industrial robots. The tool has been developed entirely in Matlab and has made extensive use of the graphical-user-interface options and the objectoriented design philosophy made possible in Matlab versions 5.0 and newer. The tool is able to automatically identify rigid-body robot parameters such as inertias and Coriolis f...

Dynamic model identification for industrial robots An integrated experiment design and parameter estimation approach

Product differentiation, customization, and just-in-time logistics require a new approach to manufacturing. Production lines have to be flexible, and therefore machine setup times must be short, to be able to handle small batch sizes efficiently and economically. In addition, ever higher quality standards and ever increasing international competition impose higher accuracy, speed, and reliabili...

Automatic Configuration of the Dynamic Model for Common Industrial Robots