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Dynamic Parameter Identification Based on Lagrangian Formulation and Servomotor-type Actuators for Industrial Robots

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  • Robot and Applications
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Abstract

This article presents the design of a parameter identification model for industrial manipulator robots. This model includes the dynamics of servomotor-type actuators and therefore is formulated based on acceleration, speed, position and voltage applied to the actuator. In this way, calculating the torque of a joint during motion to estimate parameters, as in the Inverse Dynamic Identification Model (IDIM), is unnecessary. The model proposed is satisfactorily applied to the parameter identification of an industrial redundant robot with 5 Degrees of Freedom (DoF).

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Authors and Affiliations

  1. Electrical Engineering Department, Faculty of Engineering, University of Santiago of Chile (USACH), Avenida Ecuador 3519, Estación Central, Santiago, Chile

    Claudio Urrea & José Pascal

Authors
  1. Claudio Urrea
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  2. José Pascal
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Correspondence to Claudio Urrea.

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This work was supported by the Vicerrectoría de Investigatión, Desarrollo e Innovatión of the University of Santiago of Chile, Chile.

Claudio Urrea was born in Santiago, Chile. He received the M.Sc.Eng. and the Dr. degrees from University of Santiago of Chile, in 1999 and 2003, respectively; and the Ph.D. degree from Institut National Polytechnique of Grenoble, France in 2003. Ph.D. Urrea has been Professor at the Electrical Engineering Department, University of Santiago of Chile, since 1998. He has developed and implemented a Robotics Laboratory, where intelligent robotic systems are developed and investigated. Currently, he holds the position of Postgraduate Director at the University of Santiago of Chile.

José Pascal was born in Santiago, Chile. He is an Electrical Engineer graduated from University of Santiago of Chile, Chile, in 2016. He is currently pursuing a doctoral degree in the Engineering Sciences program, at the University of Santiago of Chile, and he has actively participated in research on the development and application of identification methods for robots.

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Urrea, C., Pascal, J. Dynamic Parameter Identification Based on Lagrangian Formulation and Servomotor-type Actuators for Industrial Robots. Int. J. Control Autom. Syst. 19, 2902–2909 (2021). https://doi.org/10.1007/s12555-020-0476-8

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  • DOI: https://doi.org/10.1007/s12555-020-0476-8

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