Dynamics Calibration of a Redundant Flexible Joint Robot based on Gyroscopes and Encoders

Dennis Schüthe, Felix Wenk, Udo Frese

Abstract

In this paper we show the identification of the dynamic parameters of a redundant flexible joint robot with a flexible bearing in the first joint. The bearing leads to distortions of the link velocities measured by gyroscopes. The bearing flexibility is not modeled explicitly, resulting in a very simple model. For the joint positions encoders are used. We show how to pack the calibration problem into the sparse least-squares on manifolds toolkit (SLOM) and present the results. For verification we compare the measured data with the predicted data computed using the identified dynamic parameters.

References

  1. Albu-Schaeffer, A., Ott, C., and Hirzinger, G. (2007). A unified passivity-based control framework for position, torque and impedance control of flexible joint robots. The International Journal of Robotics Research, 26(1):23-39.
  2. Cheng, P. and Oelmann, B. (2010). Joint-angle measurement using accelerometers and gyroscopes - a survey. IEEE Transactions on Instrumentation and Measurement, 59(2):404-414.
  3. Featherstone, R. (2012). Spatial v2 (version 2). http://royfeatherstone.org/spatial/v2/notice.html.
  4. Grotjahn, M., Daemi, M., and Heimann, B. (2001). Friction and rigid body identification of robot dynamics. International Journal of Solids and Structures, 38(1013):1889 - 1902.
  5. Hertzberg, C. (2008). A framework for sparse, non-linear least squares problems on manifolds. Diploma thesis, Universität Bremen.
  6. Hertzberg, C., Wagner, R., and Frese, U. (2012). Tutorial on quick and easy model fitting using the slom framework. In Stachniss, C., Schill, K., and Uttal, D., editors, Spatial Cognition VIII, volume 7463 of Lecture Notes in Computer Science, pages 128-142. SpringerVerlag Berlin Heidelberg.
  7. Hertzberg, C., Wagner, R., Frese, U., and Schröder, L. (2013). Integrating generic sensor fusion algorithms with sound state representations through encapsulation of manifolds. Information Fusion, 14(1):57-77.
  8. Mata, V., Benimeli, F., Farhat, N., and Valera, A. (2005). Dynamic parameter identification in industrial robots considering physical feasibility. Advanced Robotics, 19(1):101-119.
  9. Moberg, S. (2010). Modeling and Control of Flexible Manipulators. PhD thesis, Linköping University, Automatic Control, The Institute of Technology.
  10. Narendra, K. S. and Parthasarathy, K. (1990). Identification and control of dynamical systems using neural networks. IEEE Transactions on Neural Networks, 1(1):4-27.
  11. Olsson, H., strm, K., de Wit, C. C., Gfvert, M., and Lischinsky, P. (1998). Friction models and friction compensation. European Journal of Control, 4(3):176 - 195.
  12. Schüthe, D. and Frese, U. (2015). Optimal control with state and command limits for a simulated ball batting task. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, pages 3988-3994.
  13. Siciliano, B. and Khatib, O. (2008). Springer handbook of robotics. Springer.
  14. Staufer, P. and Gattringer, H. (2012). State estimation on flexible robots using accelerometers and angular rate sensors. Mechatronics, 22(8):1043 - 1049.
  15. Vuong, N. D. and Ang Jr, M. H. (2009). Dynamic model identification for industrial robots. Acta Polytechnica Hungarica, 6(5):51-68.
  16. Wu, J., Wang, J., and You, Z. (2010). An overview of dynamic parameter identification of robots. Robotics and Computer-Integrated Manufacturing, 26(5):414 - 419.
Download


Paper Citation


in Harvard Style

Schüthe D., Wenk F. and Frese U. (2016). Dynamics Calibration of a Redundant Flexible Joint Robot based on Gyroscopes and Encoders . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-198-4, pages 335-346. DOI: 10.5220/0005976603350346


in Bibtex Style

@conference{icinco16,
author={Dennis Schüthe and Felix Wenk and Udo Frese},
title={Dynamics Calibration of a Redundant Flexible Joint Robot based on Gyroscopes and Encoders},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2016},
pages={335-346},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005976603350346},
isbn={978-989-758-198-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Dynamics Calibration of a Redundant Flexible Joint Robot based on Gyroscopes and Encoders
SN - 978-989-758-198-4
AU - Schüthe D.
AU - Wenk F.
AU - Frese U.
PY - 2016
SP - 335
EP - 346
DO - 10.5220/0005976603350346