NDLI: Identifying the dynamic model used by the KUKA LWR: A reverse engineering approach

Content Provider	IEEE Xplore Digital Library
Author	Gaz, C. Flacco, F. De Luca, A.
Copyright Year	2014
Description	Author affiliation: Dipt. di Ing. Inf., Auto-matica e Gestionale, Sapienza Univ. di Roma, Rome, Italy (Gaz, C.; Flacco, F.; De Luca, A.)
Abstract	An approach is presented for the model identification of the so-called link dynamics used by the KUKA LWR-IV, a lightweight manipulator with elastic joints that is very popular in robotics research but for which a complete and reliable dynamic model is not yet publicly available. The control software interface of this robot provides numerical values of the link inertia matrix and the gravity vector at each configuration, together with link position and joint torque sensor data. Taking advantage of this information, a general procedure is set up for determining the structure and identifying the value of the relevant dynamic coefficients used by the manufacturer in the evaluation of these robot model terms. We call this a reverse engineering approach, because our main goal is to match the numerical data provided by the software interface, using a suitable symbolic model of the robot dynamics and the inertial and gravity coefficients that are being estimated. Only configuration-dependent terms are involved in this process, and thus static experiments are sufficient for this task. The main issues of dynamic model identification for robots with elastic joints are discussed in general, highlighting the pros and cons of the approach taken for this class of KUKA lightweight manipulators. The main identification results, including training and validation tests, are reported together with additional dynamic validation experiments that use the complete identified model and joint torque sensor data.
Starting Page	1386
Ending Page	1392
File Size	679652
Page Count	7
File Format	PDF
ISBN	9781479936854
DOI	10.1109/ICRA.2014.6907033
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Joints Vectors Robot sensing systems Gravity Mathematical model Torque
Content Type	Text
Resource Type	Article

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