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Consistent dynamic model identification of the Stäubli RX-160 industrial robot using convex optimization method

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Abstract

Dynamic models of robot manipulators with standard dynamic parameters are required for simulations, model-based controller design and external force estimation. The aim of this work is to identify the complete dynamic model of the 6-axis Stäubli RX-160 industrial robot. A convex optimization-based method is used for parameter identification. Consistent model parameters are obtained as the result of the optimization procedure subject to physical constraints. Low-speed behavior of the robot being dominated by joint friction, the dynamic model includes an algebraic friction model consisting of the Coulomb and viscous friction components along with the Stribeck effect. The coupled mechanical structure of the 5th and 6th joints, and elasticity due to the presence of balancing springs are also represented in the proposed dynamic model. The ordinary least square error method is used for the performance evaluation of the convex optimization-based method. Estimated parameters from both methods are experimentally verified over identification and test trajectories. The identified model is finally used as a basis in the estimation of external forces acting on the robot’s end-effector. The proposed sensor-less model-based approach for the estimation of external forces constitutes an alternative mean of experimental validation. Comparison of computed external forces with measured ones by an F/T transducer shows that the dynamic model obtained with the proposed method provides an accurate estimation.

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Authors and Affiliations

  1. Mechatronics Eng. Dept., Istanbul Technical University, Istanbul, Turkey

    Omer Faruk Argin

  2. Mechanical Eng. Dept., Istanbul Technical University, Istanbul, Turkey

    Zeki Yagiz Bayraktaroglu

Authors
  1. Omer Faruk Argin
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  2. Zeki Yagiz Bayraktaroglu
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Correspondence to Omer Faruk Argin.

Additional information

Omer Faruk Argin received the B.Sc. degree in Mechatronics Engineering from the Kocaeli University, Kocaeli, Turkey, in 2009, and the M.Sc. degree in Mechatronics Engineering from the Istanbul Technical University, Istanbul, Turkey, in 2014. He is currently a Ph.D. student at the Istanbul Technical University, Istanbul, Turkey.

Zeki Yagiz Bayraktaroglu received the B.Sc. degree in Mechanical Engineering from the Istanbul Technical University, Istanbul, Turkey, the M.Sc. in Robotics from the Ecole Nationale Supérieure d’Arts et Métiers, Paris, France and the Ph.D. in Robotics from the University of Versailles Saint Quentin-en-Yvelines, Versailles, France, in 1997, 1998, and 2002, respectively. He is currently an Associate Professor, Department of Mechanical Engineering, Istanbul Technical University.

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Argin, O.F., Bayraktaroglu, Z.Y. Consistent dynamic model identification of the Stäubli RX-160 industrial robot using convex optimization method. J Mech Sci Technol 35, 2185–2195 (2021). https://doi.org/10.1007/s12206-021-0435-1

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  • DOI: https://doi.org/10.1007/s12206-021-0435-1

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