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Article

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Title

Identifying Dynamic Parameters With a Novel Software Design for the M-DOF Collaborative Robot

Authors

[ 1 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ D ] phd student | [ P ] employee

Scientific discipline (Law 2.0)

[2.2] Automation, electronics and electrical engineering

Year of publication

2022

Published in

IEEE Access

Journal year: 2022 | Journal volume: vol. 10

Article type

scientific article

Publication language

english

Keywords
EN
  • collaborative robot
  • dynamic modeling
  • identification model
  • rigid body
Abstract

EN The primary goal of this project was to develop a general identification method via software that can be applied to collaborative robots. To achieve this, the collaborative ultralight robots Kinova Gen2 and Kuka LWR4C with seven degrees of freedom (M-DOF) were used. Specifically, the "recursive Newton-Euler'' formulation was used to provide a set of parameters that could describe the body structure and to create a general symbolic representation for collaborative robots. For parameter estimation, the least squares method was used. In addition, trajectories generated with random numbers typically do not produce consistent results; thus, verified trajectories were used. To verify trajectories, real robots were simulated with V-Rep before being executed. When untested trajectories are first tested on robots, undesirable results may occur. This method was convenient for parameter estimation and robot health; saves time; and increases the consistency of results. Algorithms were coded in MATLAB and ROS packages via Python. MATLAB, ROS, and V-Rep worked together in the Ubuntu operating system. The identification methods were modeled, implemented, tested, and validated successfully, and the results for both robots are reported in this article.

Date of online publication

11.02.2022

Pages (from - to)

24627 - 24637

DOI

10.1109/ACCESS.2022.3151070

URL

https://ieeexplore.ieee.org/document/9712305

License type

CC BY-NC-ND (attribution - noncommercial - no derivatives)

Open Access Mode

open journal

Open Access Text Version

final published version

Date of Open Access to the publication

at the time of publication

Full text of article

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Access level to full text

public

Ministry points / journal

100

Impact Factor

3,9

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