Experimental Dynamic Identification of a YuMi Collaborative Robot

Experimental dynamic identification of a fully parallel robot

This paper deals with the experimental identification of the dynamic parameters of parallel machines. The dynamic parameters are estimated by using the weighted least squares solution of an over determined linear system obtained from the sampling of the dynamic model along a closed loop exciting trajectory. Experimental results are exhibited for the H4 robot, a fully parallel structure providin...

YuMi, Come and Play with Me! A Collaborative Robot for Piecing Together a Tangram Puzzle

Robot identification for dynamic simulation

Robotized laser welding is an application, which requires high speed combined with high precision. Realistic Dynamic Simulations combined with Off-line Programming, significantly enhances the a priory prediction of the weldability of a specific product. Obviously, realistic dynamic simulations require realistic models of the robot and controller. A 3DOF robot model has been formulated which inc...

Parameters Identification of an Experimental Vision-based Target Tracker Robot Using Genetic Algorithm

In this paper, the uncertain dynamic parameters of an experimental target tracker robot are identified through the application of genetic algorithm. The considered serial robot is a two-degree-of-freedom dynamic system with two revolute joints in which damping coefficients and inertia terms are uncertain. First, dynamic equations governing the robot system are extracted and then, simulated nume...

Experimental Robot Identification Using Optimised Periodic Trajectories

This paper describes a new approach to the parameterisation of robot excitation trajectories for optimal robot identification. The trajectory parameterisation is based on finite Fourier series. The coefficients of the Fourier series are optimised for minimal sensitivity of the identification to measurement disturbances, which is measured as the condition number of a regression matrix, taking in...