Modelling and Identification in Robotics

1. Introduction.- 2. Robot hardware and programming software description.- 2.1 Introduction.- 2.2 General hardware description.- 2.3 General software considerations.- 2.4 Hardware description of an experimental set-up consisting of a one link geared robot.- 2.5 Further comments on the robot programming system.- 3. Robot dynamic models.- 3.1 Introduction.- 3.2 Derivation of the differential model.- 3.3 Derivation of the integral model.- 3.4 Comparison of the differential and integral models.- 3.5 Canonical models.- 3.6 Further comments on robot dynamics modelling for identification of their parameters.- 3.7 Examples of robot dynamics models for experimental identi-fication.- 4. Identification of robot model parameters.- 4.1 Introduction.- 4.2 Least squares technique for the differential model.- 4.3 Identification scheme for the integral model.- 4.4 Further comments on identification techniques used for estimation of robot dynamic parameters.- 4.5 Simulation results.- 5. Experimental identification of robot dynamic parameters.- 5.1 Introduction.- 5.2 Optimal trajectories for robot dynamics identification.- 5.3 Friction characteristics measurements for the integral model.- 5.4 Experimental identification results for the IRp-6 robot.- 5.5 Experimental identification results for a one link geared robot.- 5.6 Experimental identification results for the EDDA robot.- 5.7 Further comments on the experimental identification of robot dynamics.- 6. Load dynamics identification.- 6.1 Introduction.- 6.2 Mathematical description of load dynamic models.- 6.3 Exciting trajectories for load identification.- 6.4 Static load parameters measurements.- 6.5 Dynamic load parameters measurements.- 7. Hybrid control of the IRp-6 robot.- 7.1 Introduction.- 7.2 Different control algorithms for robots with position controllers.- 7.3 Local and global stiffness measurement of the IRp-6 robot.- 7.4 Experimental results.- 8. Concluding remarks.- References.