Identification of dynamic robot’s parameters using physics-based simulation models for improving accuracy
P. Aivaliotis, E. Papalitsa, George Michalos, Sotiris Makris
Abstract
A robot identification method which is based on the simulation modelling and analysis of the robots as a mechatronic system is presented in this study. The ever-increasing use of robotic systems in production lines necessitates the improvement of their accuracy. To this direction, the proposed approach leads to the enhancement of the accuracy using a closed loop estimation system of the robot’s dynamic parameters. Inaccurate positioning of the robot end effector mainly depends on the elastic behavior of the robot structure as well as the friction phenomena which occur in the motor’s gear box. This study presents an easy to use method for the identification of an industrial robot’s dynamic parameters based on physics-based simulation model. Using the robot motion data from both the digital and real robot, an intelligent algorithm is used to estimate the robot’s dynamic parameters and eventually adjust the control of the robot motion for achieving higher accuracy. The implementation procedure is analyzed in this work and a set of experiments is presented to validate the proposed methodology in an industrial robotic cell.