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Robust data-driven dynamic model discovery of industrial robots with spatial manipulation capability using simple trajectory

作     者:Omar, Mohamed Wang, Ke Kun, Dai Li, Ruifeng Asker, Ahmed 

作者机构:Harbin Inst Technol State Key Lab Robot & Syst Harbin 150001 Peoples R China Mansoura Univ Fac Engn Prod & Mech Design Engn Dept Mansoura 35516 Egypt Nile Univ Sch Engn & Appl Sci Giza 12573 Egypt 

出 版 物:《NONLINEAR DYNAMICS》 (Nonlinear Dyn)

年 卷 期:2024年第112卷第11期

页      面:9155-9177页

核心收录:

学科分类:08[工学] 0802[工学-机械工程] 0801[工学-力学(可授工学、理学学位)] 

基  金:National Natural Science Foundation of China 

主  题:SINDy Euler-Lagrange Industrial robots Dynamics of industrial robots Data-driven dynamics 

摘      要:Industrial standard model-based controllers need an accurate dynamic model to perform reliably. The classical technique for dynamics modeling of industrial robots relies on deriving the closed-form dynamic equations and then identifying the inertial parameters on the assumption that all the kinematic and geometric details of the robot are known. This study extends the recently developed data-driven SINDy method to obtain the dynamic model of industrial robots with spatial manipulation capabilities. The proposed method is applied to the 6-DOF UR10 robot in simulated and experimental environments. Furthermore, payload and friction are considered in both situations. Contrary to other techniques that rely on optimizing the trajectory to improve the regressor matrix conditionality, the proposed method uses a simple trajectory constructed using a combination of quintic polynomial and sinusoidal trajectory. Three distinct trajectories are used to assess the accuracy of the proposed method in modeling the robot s dynamics. Although simple trajectories result in an ill-conditioned regressor matrix, the proposed method accurately identified the dynamic model. The identified dynamic model has accurately replicated the performance of the robot in both simulation and experimental settings. The model parameters obtained by the proposed method in the simulation settings are compared with the parameters of the Euler-Lagrange closed-form model, and good conformance has been found. To assess the robustness of the proposed method, different levels of noise are added to the simulation data. For noise levels in the range of sigma=0.001\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$\sigma =0.001$$\end{document} to sigma=0.08\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{a

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