IDEAS home Printed from https://ideas.repec.org/a/hin/jnlmpe/8709870.html
   My bibliography  Save this article

Dynamics Parametrization and Calibration of Flexible-Joint Collaborative Industrial Robot Manipulators

Author

Listed:
  • Emil Madsen
  • Simon Aagaard Timm
  • Norbert Andras Ujfalusi
  • Oluf Skov Rosenlund
  • David Brandt
  • Xuping Zhang

Abstract

Many collaborative robots use strain-wave-type transmissions due to their desirable characteristics of high torque capacity and low weight. However, their inherent complex and nonlinear behavior introduces significant errors and uncertainties in the robot dynamics calibration, resulting in decreased performance for motion and force control tasks and lead-through programming applications. This paper presents a new method for calibrating the dynamic model of collaborative robots. The method combines the known inverse dynamics identification model with the weighted least squares (IDIM-WLS) method for rigid robot dynamics with complex nonlinear expressions for the rotor-side dynamics to obtain increased calibration accuracy by reducing the modeling errors. The method relies on two angular position measurements per robot joint, one at each side of the strain-wave transmission, to effectively compensate the rotor inertial torques and nonlinear dynamic friction that were identified in our previous works. The calibrated dynamic model is cross-validated and its accuracy is compared to a model with parameters obtained from a CAD model. Relative improvements are in the range of 16.5% to 28.5% depending on the trajectory.

Suggested Citation

  • Emil Madsen & Simon Aagaard Timm & Norbert Andras Ujfalusi & Oluf Skov Rosenlund & David Brandt & Xuping Zhang, 2020. "Dynamics Parametrization and Calibration of Flexible-Joint Collaborative Industrial Robot Manipulators," Mathematical Problems in Engineering, Hindawi, vol. 2020, pages 1-13, September.
    • Handle: RePEc:hin:jnlmpe:8709870
    DOI: 10.1155/2020/8709870
    as

    Download full text from publisher

    File URL: http://downloads.hindawi.com/journals/MPE/2020/8709870.pdf
    Download Restriction: no
    File URL: http://downloads.hindawi.com/journals/MPE/2020/8709870.xml
    Download Restriction: no
    File URL: https://libkey.io/10.1155/2020/8709870?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:hin:jnlmpe:8709870. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Mohamed Abdelhakeem (email available below). General contact details of provider: https://www.hindawi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.