Daniel Gnad, Hubert Gattringer, Andreas Müller, Wolfgang Höbarth, Roland Riepl, Lukas Messner,
"Identification of Physically Consistent Dynamics Parameter of the ABB IRB 360-6/1600 Delta Robot and its Use for Time-Optimal Motion Planning under Consideration of Constraint Forces"
, in Robotics and Autonomous Systems, Vol. 182, Nummer 104823, 2024
Original Titel:
Identification of Physically Consistent Dynamics Parameter of the ABB IRB 360-6/1600 Delta Robot and its Use for Time-Optimal Motion Planning under Consideration of Constraint Forces
Sprache des Titels:
Englisch
Original Kurzfassung:
Model-based control schemes, forward dynamics simulations, constraint force computation and time-optimal motion planning have one major thing in common, they all depend on the dynamics parameters of the system. Physical consistency of the dynamics parameters ensures a positive definite mass matrix and correct constraint forces. The most common inverse dynamics identification method ? the base-parameters ? lack
physical consistency. This paper proposes an identification method to identify physically consistent dynamics parameters for Delta-like robots while further showing the effects of friction in passive joints. A tailored
model to compute the crucial constraint forces appearing in the mechanism based on the identified dynamics parameters is derived. This model is used to additionally consider constraint forces besides actuation torques
for time-optimal motion planning of a typical pick and place task. This is done without any prior CAD data of the robot from the manufacturer.