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An automated instrumental variable method for rigid industrial robot identification

Brunot, Mathieu and Janot, Alexandre and Carrillo, Francisco Javier An automated instrumental variable method for rigid industrial robot identification. (2018) IFAC-PapersOnLine, 51 (15). 431-436. ISSN 2405-8963

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Official URL: https://www.sciencedirect.com/science/article/pii/S2405896318318500

Abstract

Industrial robots must be operated in closed-loop since they are electro-mechanical systems with double integrator behaviour. Their mechanical model, called the Inverse Dynamic Identification Model (IDIM), is based on Newton’s laws and has the advantage of being linear with respect to the parameters. The Instrumental Variable (IDIM-IV) method provides a robust solution to the closed-loop estimation problem. This method relies on a tailor-made prefiltering process in order to estimate accurate parameters. An alternative and automatic way of constructing the observation matrix has been recently introduced. If this methodology provides appropriate estimated parameters, it can fail to estimate the variances of those parameters. In this paper, an identification of the additive noise characteristics is included in the process to obtain correct and lower variances of the IDIM parameters. The evaluation of the new estimation algorithm on a one degree-of-freedom rigid robot shows that it improves statistical efficiency, while minimizing the a priori knowledge required from the practitioner.

Item Type:Article
HAL Id:hal-02053259
Audience (journal):International peer-reviewed journal
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)
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Deposited On:11 Feb 2019 10:26

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