A Novel Approach for Simplification of Industrial Robot Dynamic Model Using Interval Method
dc.contributor.author
hal.structure.identifier | WANG, Ke
|
dc.contributor.author
hal.structure.identifier | LEONARD, François
|
dc.contributor.author
hal.structure.identifier | ABBA, Gabriel
|
dc.date.accessioned | 2014 |
dc.date.available | 2017 |
dc.date.issued | 2014 |
dc.date.submitted | 2014 |
dc.identifier.uri | http://hdl.handle.net/10985/8754 |
dc.description.abstract | This paper proposes a new approach to simplify the dynamic model of industrial robot by means of interval method. Due to strong nonlinearities, some components of robot dynamic model such as the inertia matrix and the vector of centrifugal, Coriolis and gravitational torques, are very complicated for real-time control of industrial robots. Thus, a simplification algorithm is presented in this study in order to reduce the computation time and memory occupation. More importantly, this simplification is suitable for arbitrary trajectories in whole robot workspace. Furthermore, the method devotes to finding negligible inertia parameters, which is useful for robot model identification. A simulation has been carried out on a test trajectory using a 6-DOF industrial robot model, and the results have shown good performance and effectiveness of this method. |
dc.description.sponsorship | ANR COROUSSO |
dc.language.iso | en |
dc.publisher | IEEE/ASME |
dc.rights | Pre-print |
dc.subject | Robot modelling |
dc.subject | Identification |
dc.subject | Robot dynamics |
dc.subject | Industrial robots |
dc.title | A Novel Approach for Simplification of Industrial Robot Dynamic Model Using Interval Method |
ensam.embargo.terms | 10 years |
dc.identifier.doi | 10.1109/AIM.2014.6878328 |
dc.typdoc | Communication avec acte |
dc.localisation | Centre de Metz |
dc.subject.hal | Sciences de l'ingénieur: Automatique / Robotique |
ensam.audience | Internationale |
ensam.conference.title | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014 |
ensam.conference.date | 2014-07-08 |
ensam.country | France |
ensam.title.proceeding | Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics |
ensam.page | 1697-1703 |
hal.submission.permitted | true |
hal.status | unsent |