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From identification to motion optimization of a planar manipulator

Published online by Cambridge University Press:  09 March 2009

H. Gaudin  and
G. Bessonnet
H. Gaudin
Affiliation:
Université de Poitiers, Laboratoire de Mécanique des Solides (URA CNRS, 861), 40 Av. du Recteur Pineau, 86022 Poitiers (France)
G. Bessonnet
Affiliation:
Université de Poitiers, Laboratoire de Mécanique des Solides (URA CNRS, 861), 40 Av. du Recteur Pineau, 86022 Poitiers (France)
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Summary

Identification of inertia constants and joint frictions of a robot manipulator is achieved in situ, without dismantling operations, by means of specific test motions. The necessary estimation of actuating torques is carried out by measuring, with Hall effect transducers, the current absorbed by the motors which power the system. This identification is accomplished by using a precise methodological order adapted to a planar SCARA type manipulator with two degrees of freedom. The identification of friction laws underscores a hysteresis phenomenon of the dissipative torques. This indicates that friction doesn't result from a simple superposition of a dry friction law and a viscous damping law. The identification results were applied with success to implementation of optimized trajectories computed on the basis of a dynamic criterion. The effective minimization of the performance criterion along the optimized trajectories, according to the corresponding standard trajectories, was verified experimentally by evaluating the motor work and actuator torques.

Keywords

Robotic manipulatorIdentificationMotion optimizationDissipative lawsHysteresis
Type
Articles
Information
Robotica , Volume 13 , Issue 2 , March 1995 , pp. 123 - 132
Copyright
Copyright © Cambridge University Press 1995

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