Comparison of Trajectory Parametrization Methods with Statistical Analysis for Dynamic Parameter Identification of Serial Robot

Fares J. Abu-Dakka*, Miguel Diaz-Rodriguez

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

Abstract

This paper introduces an approach for designing exciting trajectories for parameter identification of serial robots based on a combination of Fourier Series (FS) and Schroeder Phased Harmonic Sequence (SPHS). An initial estimation of the trajectory is designed for each link using SPHS. Afterwards, the initial trajectory enable to find the initial parameters of the FS which are fed to an optimization process that finds the optimal parameters of the FS used for identification purpose. Like this, we can take the advantages of both FS and SPHS and eliminate the disadvantages of each of them. Moreover, a comparison of results between; the proposed method, original FS, and SPHS is taking place to demonstrate the effectiveness of the new approach. In this vein, a one-way analysis of variance is conducted to compare whether there are significant improvement or not. An PA10 7DoF arm robot serves as test bed for conducting experiments. Findings shows that the optimal trajectory found through the proposed approach requires less computation time compared to original FS which can be an advantage for fast and robust identification.

Original languageEnglish
Title of host publication2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
EditorsA Bicchi, A Okamura
PublisherIEEE
Pages5874-5879
Number of pages6
ISBN (Electronic)978-1-5386-2682-5
DOIs
Publication statusPublished - 2017
MoE publication typeA4 Article in a conference publication
EventIEEE/RSJ International Conference on Intelligent Robots and Systems - Vancouver, Canada
Duration: 24 Sep 201728 Sep 2017

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
PublisherIEEE
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated titleIROS
CountryCanada
CityVancouver
Period24/09/201728/09/2017

Keywords

  • EXCITATION TRAJECTORIES
  • INERTIAL PARAMETERS
  • DESIGN

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