Frequency-based Identification Routine for the Inertial Parameters of an Industrial Robot

International Conference on Methods and Models in Automation and Robotics, pp. 352–357

Abstract

The frequency response of an industrial robot's (IR) speed-controlled system (SCS) provides valuable information about the inertial parameters of the respective manipulator. In addition, the frequency domain offers decisive advantages regarding parameter identification as opposed to the time domain. This paper presents an identification routine for the inertial parameters of a 6-degree-of-freedom (DOF) IR based on the frequency response measurements of the SCS and a genetic algorithm (GA) conditioning approach. These measurements are less susceptible to noise and offer the possibility to incorporate friction effects using phase information. In addition, the presented identification model is independent of the joint speed and acceleration, allowing for the optimization of the observation matrix exclusively through the pose. The GA is used to define an optimal set of poses while considering possible collisions at the same time.

Authors 6

1. Lukas Grundel Aachen Laboratory for Machine Tools (WZL)

   RWTH Aachen University

   Affiliation as printed

   RWTH Aachen University,Laboratory for Machine Tools,Aachen,Germany

   Laboratory for Machine Tools, RWTH Aachen University, Aachen, Germany

2. Antonio Alipaz-Dicke Aachen Laboratory for Machine Tools (WZL)

   RWTH Aachen University

   Affiliation as printed

   RWTH Aachen University,Laboratory for Machine Tools,Aachen,Germany

   Laboratory for Machine Tools, RWTH Aachen University, Aachen, Germany

3. Minh Trinh Aachen Laboratory for Machine Tools (WZL)

   RWTH Aachen University

   Affiliation as printed

   RWTH Aachen University,Laboratory for Machine Tools,Aachen,Germany

   Laboratory for Machine Tools, RWTH Aachen University, Aachen, Germany

4. Simon Storms Aachen Laboratory for Machine Tools (WZL)

   RWTH Aachen University

   Affiliation as printed

   RWTH Aachen University,Laboratory for Machine Tools,Aachen,Germany

   Laboratory for Machine Tools, RWTH Aachen University, Aachen, Germany

5. Christian Brecher Aachen Laboratory for Machine Tools (WZL)

   RWTH Aachen University

   Affiliation as printed

   RWTH Aachen University,Laboratory for Machine Tools,Aachen,Germany

   Laboratory for Machine Tools, RWTH Aachen University, Aachen, Germany

6. David Bitterolf

   Siemens (Germany)

   Affiliation as printed

   Siemens AG,Business Unit Motion Control,Erlangen,Germany

   Business Unit Motion Control, Siemens AG, Erlangen, Germany