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| Main Author: | |
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| Format: | Artículo científico |
| Language: | en |
| Published: |
Universidad Nacional Autónoma de México
2017
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| Online Access: | https://www.redalyc.org/articulo.oa?id=47452572002 https://www.redalyc.org/journal/474/47452572002/ https://www.redalyc.org/journal/474/47452572002/html/ https://www.redalyc.org/journal/474/47452572002/47452572002.epub https://www.redalyc.org/journal/474/47452572002/movil |
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| _version_ | 1866817130110910464 |
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| author | Claudio Urrea |
| author_facet | Claudio Urrea |
| contents | Parameter identification methods for real redundant manipulators Claudio Urrea José Pascal Ingeniería error indices error indices error indices Robot dynamics Robot dynamics This work presents the development, assessment and comparison of four techniques for identifying dynamic parameters in an industrial redundantmanipulator robot with 5 degrees of freedom. Based on the Lagrange–Euler formulation, a linear model of the robot with unknown parametersis obtained. Then, these parameters are identified using the following techniques: least squares, artificial Adaline neural networks, artificialHopfield neural networks and extended Kalman filter. The parameters identified are validated by using them for computationally simulating theperformance of the redundant manipulator robot, to which are imposed reference trajectories different from the ones used in the estimation. Torelate the trajectories performed by the redundant manipulator robot with the estimated parameters, the following error indexes are calculated:Residual Mean Square, Residual Standard Deviation and Agreement Index. Finally, to determine the sensitivity of the model identified – due tothe variations of the estimated parameters – a new simulation is conducted on the robot, considering that its parameters vary in a restricted range.In addition, the RMS error index of the trajectories performed is determined. After this step, the parameters of the redundant manipulator robotwere successfully identified and, thus, its mathematical model was known. 2017 artículo científico 1665-6423 https://www.redalyc.org/articulo.oa?id=47452572002 https://www.redalyc.org/journal/474/47452572002/ https://www.redalyc.org/journal/474/47452572002/html/ https://www.redalyc.org/journal/474/47452572002/47452572002.epub https://www.redalyc.org/journal/474/47452572002/movil en http://www.redalyc.org/revista.oa?id=474 Journal of Applied Research and Technology application/pdf Universidad Nacional Autónoma de México Journal of Applied Research and Technology (México) Num.4 Vol.15 |
| format | Artículo científico |
| id | redalyc_47452572002 |
| language | en |
| publishDate | 2017 |
| publisher | Universidad Nacional Autónoma de México |
| spellingShingle | Parameter identification methods for real redundant manipulators Claudio Urrea Ingeniería error indices error indices error indices Robot dynamics Robot dynamics Parameter identification methods for real redundant manipulators Claudio Urrea José Pascal Ingeniería error indices error indices error indices Robot dynamics Robot dynamics This work presents the development, assessment and comparison of four techniques for identifying dynamic parameters in an industrial redundantmanipulator robot with 5 degrees of freedom. Based on the Lagrange–Euler formulation, a linear model of the robot with unknown parametersis obtained. Then, these parameters are identified using the following techniques: least squares, artificial Adaline neural networks, artificialHopfield neural networks and extended Kalman filter. The parameters identified are validated by using them for computationally simulating theperformance of the redundant manipulator robot, to which are imposed reference trajectories different from the ones used in the estimation. Torelate the trajectories performed by the redundant manipulator robot with the estimated parameters, the following error indexes are calculated:Residual Mean Square, Residual Standard Deviation and Agreement Index. Finally, to determine the sensitivity of the model identified – due tothe variations of the estimated parameters – a new simulation is conducted on the robot, considering that its parameters vary in a restricted range.In addition, the RMS error index of the trajectories performed is determined. After this step, the parameters of the redundant manipulator robotwere successfully identified and, thus, its mathematical model was known. 2017 artículo científico 1665-6423 https://www.redalyc.org/articulo.oa?id=47452572002 https://www.redalyc.org/journal/474/47452572002/ https://www.redalyc.org/journal/474/47452572002/html/ https://www.redalyc.org/journal/474/47452572002/47452572002.epub https://www.redalyc.org/journal/474/47452572002/movil en http://www.redalyc.org/revista.oa?id=474 Journal of Applied Research and Technology application/pdf Universidad Nacional Autónoma de México Journal of Applied Research and Technology (México) Num.4 Vol.15 |
| title | Parameter identification methods for real redundant manipulators |
| topic | Ingeniería error indices error indices error indices Robot dynamics Robot dynamics |
| url | https://www.redalyc.org/articulo.oa?id=47452572002 https://www.redalyc.org/journal/474/47452572002/ https://www.redalyc.org/journal/474/47452572002/html/ https://www.redalyc.org/journal/474/47452572002/47452572002.epub https://www.redalyc.org/journal/474/47452572002/movil |