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Comparison between the IDIM-IV method and the DIDIM method for industrial robots identification

Brunot, Mathieu and Janot, Alexandre and Carrillo, Francisco Javier and Garnier, Huges Comparison between the IDIM-IV method and the DIDIM method for industrial robots identification. (2017) In: AIM2017 - International Conference on Advanced Intelligent Mechatronics, 3 July 2017 - 7 July 2017 (Munich, Germany).

(Document in English)

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Official URL: http://www.aim2017.org/


This paper deals with two robot identification methods recently introduced. The first one is based on the use of the Inverse Dynamic Identification Model (IDIM) and the Instrumental Variable (IV). The second one is the Direct and Inverse Dynamic Identification Models (DIDIM) method, which is a closed-loop output error method minimizing the quadratic error between the actual and simulated joint torques. Both methods rely on the simulation of the Direct Dynamic Model(DDM). They are compared with a six degrees of freedom industrial robot. The experimental results show that the DIDIM method has the advantage of requiring less data preprocessing. Nevertheless, the IDIM-IV method appears to be more robust to modelling errors in the simulation which are not located in the identified dynamic model.

Item Type:Conference or Workshop Item (Paper)
Additional Information:Thanks to Elsevier editor. The definitive version is available at : http://ieeexplore.ieee.org/abstract/document/8014078/ © 20xx 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-01635641
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution: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 09:46

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