REALISTIC DYNAMIC SIMULATION OF AN INDUSTRIAL ROBOT WITH JOINT FRICTION

Ronald G.K.M. Aarts, Ben J.B. Jonker, Rob R. Waiboer

2004

Abstract

This paper presents a realistic dynamic simulation of the closed-loop tip motion of a rigid-link manipulator with joint friction. The results from two simulation techniques are compared with experimental results. A six-axis industrial Stäubli robot is modelled. The LuGre friction model is used to account both for the sliding and pre-sliding regime. The manipulation task implies transferring a laser spot along a straight line with a trapezoidal velocity profile. Firstly, a non-linear finite element method is used to formulate the dynamic equations of the manipulator mechanism. In a closed-loop simulation the driving torques are generated by the control system. The computed trajectory tracking errors agree well with the experimental results. Unfortunately, the simulation is very time-consuming due to the small time step of the discrete-time controller. Secondly, a perturbation method has been applied. In this method the perturbed motion of the manipulator is modelled as a first-order perturbation of the nominal manipulator motion. Friction torques at the actuator joints are introduced at the stage of perturbed dynamics. A substantial reduction of the computer time is achieved without loss of accuracy.

References

  1. Cala ore, G., Indri, M., and Bona, B. (2001). Robot dynamic calibration: Optimal excitation trajectories and experimental parameter estimation. Journal of Robotic Systems, 18(2):55-68.
  2. Haessig, D. and Friedland, B. (1991). On the modeling and simulation of friction. Transactions of the ASME, Journal of Dynamic Systems, Measurement and Control, 113(3):354-362.
  3. Jonker, J. (1990). A nite element dynamic analysis of exible manipulators. International Journal of Robotics Research, 9(4):59-74.
  4. Jonker, J. and Aarts, R. (2001). A perturbation method for dynamic analysis and simulation of exible manipulators. Multibody System Dynamics, 6(3):245-266.
  5. Jonker, J. and Meijaard, J. (1990). Spacar-computer program for dynamic analysis of exible spatial mech-
Download


Paper Citation


in Harvard Style

Aarts R., Jonker B. and Waiboer R. (2004). REALISTIC DYNAMIC SIMULATION OF AN INDUSTRIAL ROBOT WITH JOINT FRICTION . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-12-0, pages 48-55. DOI: 10.5220/0001143500480055


in Bibtex Style

@conference{icinco04,
author={Ronald G.K.M. Aarts and Ben J.B. Jonker and Rob R. Waiboer},
title={REALISTIC DYNAMIC SIMULATION OF AN INDUSTRIAL ROBOT WITH JOINT FRICTION},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2004},
pages={48-55},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001143500480055},
isbn={972-8865-12-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - REALISTIC DYNAMIC SIMULATION OF AN INDUSTRIAL ROBOT WITH JOINT FRICTION
SN - 972-8865-12-0
AU - Aarts R.
AU - Jonker B.
AU - Waiboer R.
PY - 2004
SP - 48
EP - 55
DO - 10.5220/0001143500480055