Identification of Industrial Robots: Robot Modeling and Control

Identification of Industrial Robots
2(29)
Accurate robot models needed for:
Robot Modeling and Control
Erik Wernholt
Automatic Control
Linkping University
Control
Mechanical design
Performance simulation
Diagnosis
Supervision
...
System identification: Unknown model parameters are estimated from experimental data.
Erik Wernholt, Robot Modeling and Control, 2008-12-10

AUTOMATIC CONTROL
REGLERTEKNIK
LINKPINGS UNIVERSITET
Types of Identification

3(29)
Kinematic model
AUTOMATIC CONTROL
REGLERTEKNIK
Outline
4(29)
Introduction
Dynamic rigid body model

Mechanical elasticities
Identification of Kinematic Parameters
Nonlinearities in actuators and transmission

Identification of Rigid Body Dynamics
Load dynamics
Sensor and actuator disturbances (ripple)
Identification of Elasticities
Thermal models
Mechanical stress
Conclusions
...

AUTOMATIC CONTROL
REGLERTEKNIK

AUTOMATIC CONTROL
REGLERTEKNIK
Recommended literature
5(29)
Sciavicco, L. and Siciliano, B. Modeling and Control of

Robotic Manipulators. Springer, 2000, pages 131181.
Wernholt, E. Multivariable Frequency-Domain Identification
of Industrial Robots, PhD thesis, LiTH, 2007, pages 6172.
http://www.control.isy.liu.se/research/reports/Ph.D.Thesis/PhD1138.pdf
Olsson, R. Identifiering av stelkroppsmodell fr

industrirobot, Masters thesis, LiTH, 2005.
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-5535

Accuracy: Deviates a
couple of milimeters with
nominal kinematic model.
Repeatability: 0.1 mm for
ABB IRB6400, that can
handle 200 kg.
Can obtain volumetric
accuracy of 0.5 mm for a
large robot by calibration.
Additional references can be found in the PhD thesis.

Z=

AUTOMATIC CONTROL
REGLERTEKNIK
Identification of Kinematic Parameters, cont
Z = Z kin (q, nom ) = kin (q, nom )
Measure Z in a number of locations, using e.g., a laser

tracker, and solve for in least-squares sense.
includes robot link parameters and parameters
describing elastostatic effects (deflection due to gravity)
and the mounting of the robot base and the end effector.

pos
= kin (q)
ori
AUTOMATIC CONTROL
REGLERTEKNIK
Outline
8(29)
Introduction
Taylor series expansion:
7(29)
6(29)
AUTOMATIC CONTROL
REGLERTEKNIK

Conclusions

AUTOMATIC CONTROL
REGLERTEKNIK
Rigid Body Dynamics
9(29)
Linear in Parameters
10(29)
The dynamics is linear in the dynamic parameters, often

called the standard inertial parameters, rb .
Each link gives ten inertial parameters: body mass, mass
location, and inertia matrix (six elements due to symmetry).
Note: This requires that the inertial parameters of each link
are expressed w.r.t. a frame located in the joint, not the
center of mass. Otherwise, not linear in mass location.
(see Sciavicco and Siciliano, 2000)
It is common to use a friction model
f (q ) = Fv q + Fc sign(q )
which gives two additional parameters for each link, but still
an expression that is linear in the parameters.
M(q)q + c(q, q ) + g(q) + f (q ) =

AUTOMATIC CONTROL
REGLERTEKNIK

Linear in Parameters, cont.
11(29)
The robot dynamic model can then be rewritten as

q )rb =
Hrb (q, q,
or as the energy difference model
hrb (q, q )rb = Hrb = Hrb (tb ) Hrb (ta ) =
Z tb
ta
T qdt
where rb R12n is the parameter vector and n is the number of

links. Hrb is the total energy of the system.

AUTOMATIC CONTROL
REGLERTEKNIK
AUTOMATIC CONTROL
REGLERTEKNIK

Base Parameters
12(29)
Consider N samples of data,

ZN = {q(ti ), q (ti ), q (ti ), (ti ), i = 1, 2, . . . , N }:
(t1 )
Hrb (q(t1 ), q (t1 ), q (t1 ))
Hrb (q(t2 ), q (t2 ), q (t2 ))
(t2 )
rb = ..
..
.
.
(tN )
Hrb (q(tN ), q (tN ), q (tN ))
{z
}
| {z }
|
Problem: rb is not identifiable!

AUTOMATIC CONTROL
REGLERTEKNIK
Base Parameters
13(29)
Estimator
14(29)
Problem: rb is not identifiable!
For a particular robot, a number of the parameters are zero

or linearly dependent.
Base parameters b minimum number of parameters that
characterize the dynamic model.
Different approaches can be found in the literature. Most
basic distinction is if the problem is solved using a
numerical (SVD or QR factorization of ) or an analytical
method.
Hrb rb = is replaced by
q )b =
Hb (q, q,

Outline
AUTOMATIC CONTROL
REGLERTEKNIK
15(29)
The robot is moved along a trajectory and joint motion and

torque are measured.
Finally the base parameters can be estimated, for
example, by a weighted least squares (WLS) method
1
b = arg min (Y b b )T W (Y b b ) = (Tb Wb )1 Tb WY
b 2
To obtain good results, experiment design is important,

e.g., path as sum of sinusoids and maximize
log det(Tb Wb ). See, e.g., (Olsson, 2005).

AUTOMATIC CONTROL
REGLERTEKNIK
Sources of Elasticity
Introduction
16(29)
Transmission
New structure (single bearings, etc.)
Reduced weight Increased elastic effects
Mounting and equipment

Conclusions

AUTOMATIC CONTROL
REGLERTEKNIK

AUTOMATIC CONTROL
REGLERTEKNIK
Flexible Joint Model
17(29)
Extended Flexible Joint Model
18(29)
Modern robots require additional elastic effects to be modeled

(due to weight reduction, single bearings, non-symmetric), e.g.,
by using the Extended Flexible joint model:
For many (traditional) robots, the joint flexibility is dominant,

which motivates the Flexible joint model:
Mm q m + fm (q m ) + rg g =,
Mae (qa , qe )
Ma (qa )q a + ca (qa , q a ) + ga (qa ) =g ,
Mm q m + fm (q m ) + rg g =,

q a
+ cae (qa , qe , q a , q e ) + gae (qa , qe ) = g

q e
e
kg (rg qm qa ) + dg (rg q m q a ) =g ,
kg (rg qm qa ) + dg (rg q m q a ) =g ,
ke qe de q e =e ,
(Moberg and Hanssen, 2007)

Rigid vs. Elastic Body Dynamics Id.
AUTOMATIC CONTROL
REGLERTEKNIK
19(29)
Identification of mechanical elasticities is more complex

than identification of rigid body dynamics.
Main reason: only a subset of the state variables are
typically measured and linear regression can therefore not
be used.
(This could partly be solved by adding expensive sensors.)

AUTOMATIC CONTROL
REGLERTEKNIK

AUTOMATIC CONTROL
REGLERTEKNIK
Identification of Mechanical Elasticities
20(29)
Given: Kinematic and rigid body models from a priori

knowledge or previous identification experiments.
Aim: Identify springs and dampers

AUTOMATIC CONTROL
REGLERTEKNIK
Challenge for System Identification
x (t) = f (x(t), u(t), ),
21(29)
Identification Procedure
22(29)
1. Estimate nonparametric FRFs in Q operating points
Accurate models are needed
b (i) ( k ) ,
G
Multivariable
Nonlinear
i = 1, . . . , Q
2. Linearize the nonlinear parametric robot model in each

position, resulting in Q parametric FRFs Details
Unstable
Highly resonant
G(i) ( k , ) ,
Data collected in closed loop

Normally only motor angle
measurements available
i = 1, . . . , Q
3. Obtain by minimizing the discrepancy between the

parametric and nonparametric FRFs.
Difficult disturbance properties
Pros & Cons
y(t) = h(x(t), u(t), ),

AUTOMATIC CONTROL
REGLERTEKNIK

FRF Example
23(29)
AUTOMATIC CONTROL
REGLERTEKNIK

Identification Procedure
24(29)
MotorAcc FRF: (k).
1. Estimate nonparametric FRFs in Q operating points

b (i) ( k ) ,
G
i = 1, . . . , Q
2. Linearize the nonlinear parametric robot model in each

position, resulting in Q parametric FRFs Details
Magnitude (dB)
60
40
20
0
60
40
20
0
60
40
20
0
60
40
20
0
60
40
20
0
60
40
20
0
20
G(i) ( k , ) ,
i = 1, . . . , Q
3. Obtain by minimizing the discrepancy between the

parametric and nonparametric FRFs.
Pros & Cons
1
10
10

10
10
Frequency (Hz)
10
10
AUTOMATIC CONTROL
REGLERTEKNIK

AUTOMATIC CONTROL
REGLERTEKNIK
Weighted Logarithmic Least Squares
25(29)
Parametric and Nonparametric FRF
26(29)
60
40
20
0
Q Nf
= arg min
[E
(k, )] [ (k)]
H
(i)
60
40
20
0
1 (i)
E (k, )
i=1 k =1
Magnitude (dB)
(i)
with
b (i) (k )) log vec(G(i) (k , ))
E (i) (k, ) = log vec(G
60
40
20
0
60
40
20
0
60
40
20
0
and (i) (k) a Hermitian weighting matrix.
60
40
20
0
20
1
10
1
10
1
10
1
10
1
10
1
10
Frequency (Hz)

Conclusions
AUTOMATIC CONTROL
REGLERTEKNIK
27(29)

Pros and Cons

Frequency-domain
+ Data compression
Identification of industrial robots varies depending on the

model (kinematic, rigid body dynamics, elasticities, . . . )
Rigid body dynamics can be identified using linear
regression techniques.
Identification of elastic effects is quite challenging due to:
multivariable, nonlinear, unstable, resonant, high accuracy
required, . . . .
AUTOMATIC CONTROL
REGLERTEKNIK
28(29)
Time-domain
+ No approximations
+ Unstable systems ok
- Large data sets
+ Easy to validate that resonances

are captured
- Numerical problems
+ Frequency-domain requirements
easily handled
- Stable predictor (nonlinear

observer)
Return
- Biased estimates due to

nonlinearities and closed loop
- Linear approximations might be
inaccurate, e.g., for Coulomb
friction.

AUTOMATIC CONTROL
REGLERTEKNIK

AUTOMATIC CONTROL
REGLERTEKNIK
FRF of Nonlinear Model
29(29)
For each operating point i and value do:

(i)
(i)
1. Calculate the stationary point (x0 ( ), u0 ( )).

2. Linearize the nonlinear system.
3. Obtain the continuous-time transfer function as
(i)
Gc (s, ) = C(i) ( )(sI A(i) ( ))1 B(i) ( ) + D(i) ( ).

(i)
4. Convert the continuous-time FRF Gc (j, ) to discrete

time (assuming zero-order hold):
(i)
GTs (ejTs , )
1 ejTs (i)
Gc (j, ).
jTs
(i)
(G(i) (, ) is a short notation for GTs (ejTs , ))

Id. Proc.
AUTOMATIC CONTROL
REGLERTEKNIK

Identification of Industrial Robots: Robot Modeling and Control

Încărcat de

Informații document

Titlu original

Drepturi de autor

Formate disponibile

Partajați acest document

Partajați sau inserați document

Opțiuni de partajare

Vi se pare util acest document?

Este necorespunzător acest conținut?

Drepturi de autor:

Formate disponibile

Identification of Industrial Robots: Robot Modeling and Control

Încărcat de

Drepturi de autor:

Formate disponibile

Identification of Industrial Robots