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

Emil Madsen; Simon Aagaard Timm; Norbert Andras Ujfalusi; Oluf Skov Rosenlund; David  Brandt; Xuping Zhang

doi:10.1155/2020/8709870

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

Emil Madsen^*, Simon Aagaard Timm, Norbert Andras Ujfalusi, Oluf Skov Rosenlund, David Brandt, Xuping Zhang^*

^*Corresponding author af dette arbejde

Publikation: Bidrag til tidsskrift/Konferencebidrag i tidsskrift /Bidrag til avis › Tidsskriftartikel › Forskning › peer review

7 Citationer (Scopus)

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.

Originalsprog	Engelsk
Artikelnummer	8709870
Tidsskrift	Mathematical Problems in Engineering
Vol/bind	2020
Antal sider	13
ISSN	1024-123X
DOI	https://doi.org/10.1155/2020/8709870
Status	Udgivet - 2020

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10.1155/2020/8709870Licens: CC BY

https://www.hindawi.com/journals/mpe/2020/8709870/

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Citationsformater

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title = "Dynamics Parametrization and Calibration of Flexible-Joint Collaborative Industrial Robot Manipulators",

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.",

author = "Emil Madsen and Timm, {Simon Aagaard} and Ujfalusi, {Norbert Andras} and Rosenlund, {Oluf Skov} and David Brandt and Xuping Zhang",

year = "2020",

doi = "10.1155/2020/8709870",

language = "English",

volume = "2020",

journal = "Mathematical Problems in Engineering",

issn = "1024-123X",

publisher = "Hindawi",

}

Dynamics Parametrization and Calibration of Flexible-Joint Collaborative Industrial Robot Manipulators. / Madsen, Emil; Timm, Simon Aagaard; Ujfalusi, Norbert Andras et al.
I: Mathematical Problems in Engineering, Bind 2020, 8709870, 2020.

Publikation: Bidrag til tidsskrift/Konferencebidrag i tidsskrift /Bidrag til avis › Tidsskriftartikel › Forskning › peer review

TY - JOUR

T1 - Dynamics Parametrization and Calibration of Flexible-Joint Collaborative Industrial Robot Manipulators

AU - Madsen, Emil

AU - Timm, Simon Aagaard

AU - Ujfalusi, Norbert Andras

AU - Rosenlund, Oluf Skov

AU - Brandt, David

AU - Zhang, Xuping

PY - 2020

Y1 - 2020

N2 - 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.

AB - 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.

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DO - 10.1155/2020/8709870

M3 - Journal article

SN - 1024-123X

VL - 2020

JO - Mathematical Problems in Engineering

JF - Mathematical Problems in Engineering

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