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A pragmatic and systematic statistical analysis for identification of industrial robots

Brunot, Mathieu and Janot, Alexandre and Carrillo, Francisco Javier and Garnier, Hugues A pragmatic and systematic statistical analysis for identification of industrial robots. (2017) In: AIM2017 - International Conference on Advanced Intelligent Mechatronics, 3 July 2017 - 7 July 2017 (Munich, Germany).

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Abstract

Identification of industrial robots is a prolific topic that has been deeply investigated over the last three decades. The standard method is based on the use of the inverse dynamic model and the least-squares estimation (IDIM-LS method) while robots are operating in closed loop by tracking exciting trajectories. Recently, in order to secure the consistency of the parameters estimates, an instrumental variable (IV) approach, called IDIM-IV method, has been designed and experimentally validated. However, the statistical analysis of estimates was not treated. Surprisingly, this topic is rarely addressed in mechatronics whereas it has been deeply investigated in automatic control. This paper aims at bridging the gap between these two communities by presenting a pragmatic statistical analysis of the IDIM-IV estimates. This analysis consists of a two-step procedure: first, the consistency of the IDIM-IV estimates is validated by the Revised Durbin-Wu-Hausman test, and then the statistical analysis of the IDIM-IV residuals is treated. This two-step approach is experimentally validated on the TX40 robot.

Item Type:Conference or Workshop Item (Paper)
Additional Information:Thanks to IEEE editor. The definitive version is available at : http://ieeexplore.ieee.org/document/8014076/ © 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
HAL Id:hal-01635639
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:French research institutions > Centre National de la Recherche Scientifique - CNRS (FRANCE)
Université de Toulouse > Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE)
French research institutions > Office National d'Etudes et Recherches Aérospatiales - ONERA (FRANCE)
Other partners > Université de Lorraine (FRANCE)
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Deposited On:14 Sep 2017 09:26

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