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Reduction of robot base parameters

Abstract

This paper is a new step in the search of minimum dynamic parameters of robots. In spite of planing exciting trajectories and using base parameters, some parameters remain not identifiable due to the perturbation effects. In this paper, we propose methods to reduce the set of base parameters in order to get an essential set of parameters. This new set defines a simplified identification model witch improves the noise immunity of the estimation process. It contributes also in reducing the computation burden of a simplified dynamic model. Different methods are proposed and are classified in two parts: methods, witch perform reduction and identification together, come from statistical field and methods, witch reduces the model before the identification thanks to a priori information, come from numerical field like the QR factorization. Statistical tools and QR reduction are shown to be efficient and adapted to determine the essential parameters. They can be applied to open-loop, or graph structured rigid robot, as well as flexible-link robot. Application for the PUMA 560 robot is given. (authors). 9 refs., 4 tabs.
Authors:
Vandanjon, P O; [1]  Gautier, M [2] 
  1. CEA Centre d`Etudes de Saclay, 91 - Gif-sur-Yvette (France). Dept. des Procedes et Systemes Avances
  2. Nantes Univ., 44 (France)
Publication Date:
Dec 31, 1995
Product Type:
Conference
Report Number:
CEA-CONF-12166; CONF-950912-
Reference Number:
SCA: 990200; 420000; PA: AIX-28:031687; EDB-97:059267; NTS-97:012169; SN: 97001765761
Resource Relation:
Conference: 3. European control conference, Rome (Italy), 5-8 Sep 1995; Other Information: PBD: 1995
Subject:
99 MATHEMATICS, COMPUTERS, INFORMATION SCIENCE, MANAGEMENT, LAW, MISCELLANEOUS; 42 ENGINEERING NOT INCLUDED IN OTHER CATEGORIES; ROBOTS; PARAMETRIC ANALYSIS; IDENTIFICATION SYSTEMS; LEAST SQUARE FIT; PERTURBATION THEORY; STATISTICAL MODELS
OSTI ID:
455089
Research Organizations:
CEA Centre d`Etudes de Saclay, 91 - Gif-sur-Yvette (France). Dept. des Procedes et Systemes Avances
Country of Origin:
France
Language:
English
Other Identifying Numbers:
Other: ON: DE97620930; TRN: FR9600994031687
Availability:
INIS; OSTI as DE97620930
Submitting Site:
FRN
Size:
8 p.
Announcement Date:

Citation Formats

Vandanjon, P O, and Gautier, M. Reduction of robot base parameters. France: N. p., 1995. Web.
Vandanjon, P O, & Gautier, M. Reduction of robot base parameters. France.
Vandanjon, P O, and Gautier, M. 1995. "Reduction of robot base parameters." France.
@misc{etde_455089,
title = {Reduction of robot base parameters}
author = {Vandanjon, P O, and Gautier, M}
abstractNote = {This paper is a new step in the search of minimum dynamic parameters of robots. In spite of planing exciting trajectories and using base parameters, some parameters remain not identifiable due to the perturbation effects. In this paper, we propose methods to reduce the set of base parameters in order to get an essential set of parameters. This new set defines a simplified identification model witch improves the noise immunity of the estimation process. It contributes also in reducing the computation burden of a simplified dynamic model. Different methods are proposed and are classified in two parts: methods, witch perform reduction and identification together, come from statistical field and methods, witch reduces the model before the identification thanks to a priori information, come from numerical field like the QR factorization. Statistical tools and QR reduction are shown to be efficient and adapted to determine the essential parameters. They can be applied to open-loop, or graph structured rigid robot, as well as flexible-link robot. Application for the PUMA 560 robot is given. (authors). 9 refs., 4 tabs.}
place = {France}
year = {1995}
month = {Dec}
}