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4 Papers

Joint Stiffness Identification of a Heavy Kuka Robot with a Low-cost Clamped End-effector Procedure

Topics: Modeling, Simulation and Architecture; Mechatronics Systems; Engineering Applications

Authors: A. Jubien 1 , G. Abba 2 and M. Gautier 3

Affiliations: 1 IRCCyN (Institut de Recherche en Communications et Cybernétique de Nantes) and ONERA (The French Aerospace Lab), France , 2 Dep. of Design and Manufacturing and Control (LCFC) and ENIM (National College of Engineering of Metz), France , 3 IRCCyN (Institut de Recherche en Communications et Cybernétique de Nantes), France

Digital Object Identifier: 10.5220/0005115805850591

Proceedings of ICINCO 2014, ISBN: 978-989-758-040-6

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This paper proposes two new methods for the identification of static stiffnesses of multi degrees of freedom heavy industrial robots. They are based on a locked link joint procedure obtained with an end-effector fixed to the environment. The first method requires only measurements of motor positions and motor torques data computed from motor current measurements and manufacturer's drive gains. The second one needs a torque sensor to measure the interaction wrench between the clamped end-effector and the environment. These methods are being experimentally validated and compared on the 2 first joints of a 6 degrees of freedom heavy 500Kg payload industrial Kuka KR500 robot.
Collapse Button Related Ontology Subjects/Areas/Topics (7)
Engineering Applications

Mechatronics Systems

Robotics and Automation

Informatics in Control, Automation and Robotics

Modeling, Simulation and Architectures

Signal Processing, Sensors, Systems Modeling and Control
Intelligent Control Systems and Optimization

Optimal Walking of an Underactuated Planar Biped with Segmented Torso

Topics: Robot Design, Development and Control; Humanoid Robots

Authors: Zhongkai Chen 1 , Nafissa El Yaaqoubi 2 and Gabriel Abba 3

Affiliations: 1 Arts et Métiers ParisTech, France , 2 ENIM, France , 3 Design Manufacturing Control Lab and ENIM, France

Digital Object Identifier: 10.5220/0005115702130220

Proceedings of ICINCO 2014, ISBN: 978-989-758-040-6

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Recently, underactuated bipeds with pointed feet have been studied to achieve dynamic and energy efficient robot walking patterns. However, these studies usually simplify a robot torso as one link, which is different from a human torsos containing 33 vertebrae. In this paper, therefore, we study the optimal walking of a 6-link planar biped with a segmented torso derived from its 5-link counterpart while ensuring that two models are equivalent when the additional torso joint is locked. For the walking, we suppose that each step is composed of a single support phase and an instantaneous double support phase, and two phases are connected by a plastic impact mapping. In addition, the controlled outputs named symmetry outputs capable of generating exponentially stable orbits using hybrid zero dynamics, are adopted to improve physical interpretation. The desired outputs are parameterized by Bézier functions, with 5-link robot having 16 parameters to optimize and 6-link robot having 19 parameters. According to our energy criterion, the segmented torso structure may reduce energy consumption up to 8% in bipedal walking, and the maximum energy saving is achieved at high walking speeds, while leaving the criteria at low walking speeds remain similar for both robots.
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Humanoid Robots

Robot Design, Development and Control

Robotics and Automation
Informatics in Control, Automation and Robotics

Gait Optimization of a Rolling Knee Biped at Low Walking Speeds

Topics: Humanoid Robots; Mobile Robots and Autonomous Systems; Mechatronics Systems

Authors: Mathieu Hobon 1 , Nafissa Lakbakbi Elyaaqoubi 2 and Gabriel Abba 2

Affiliations: 1 Design Manufacturing Control Lab and ENSAM, France , 2 Design Manufacturing Control Lab and ENIM, France

Digital Object Identifier: 10.5220/0004457402070214

Proceedings of ICINCO 2013, ISBN: 978-989-8565-71-6

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This paper addresses an optimization problem of trajectories for a biped robot with a new modelled structure of knees which is called rolling knee (RK). The first part of article is to present the new kinematic knee on a biped robot and the different models used to know the dynamic of the robot during a walking step. The gait is cyclic and simplified by a Single Support Phase (SSP) followed by an impact. The second part is a comparison of the influence of the gait trajectory on the control, using cubic spline functions as well as the {\it B\'ezier} functions. The energetic criterion is minimized through optimization while using the simplex algorithm and the Lagrange penalty functions to meet the constraints of stability and deflection of mobile foot. The main result is the using of Bézier functions permit to improve the energy gain in slow walking speeds. These trajectories permit to the biped robot to walk progressively without energy disturbance unlike those with cubic spline functions.
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Humanoid Robots

Mechatronics Systems

Robotics and Automation
Informatics in Control, Automation and Robotics

Mobile Robots and Autonomous Systems

ROBUST AND ACTIVE TRAJECTORY TRACKING FOR AN AUTONOMOUS HELICOPTER UNDER WIND GUST

Topics: Mobile Robots and Autonomous Systems; Robot Design, Development and Control; Vehicle Control Applications; Space and Underwater Robotics

Authors: Adnan Martini , François Léonard and Gabriel Abba

Affiliation: Industrial Engineering and Mechanical Production Lab (LGIPM), ENIM, France

Digital Object Identifier: 10.5220/0001644403330340

Proceedings of ICINCO 2007, ISBN: 978-972-8865-83-2

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The helicopter manoeuvres naturally in an environment where the execution of the task can easily be affected by atmospheric turbulences, which lead to variations of its model parameters.The originality of this work relies on the nature of the disturbances acting on the helicopter and the way to compensate them. Here, a nonlinear simple model with 3-DOF of a helicopter with unknown disturbances is used. Two approaches of robust control are compared via simulations: a nonlinear feedback and an active disturbance rejection control based on a nonlinear extended state observer(ADRC).
Collapse Button Related Ontology Subjects/Areas/Topics (6)
Informatics in Control, Automation and Robotics

Robot Design, Development and Control

Space and Underwater Robotics

Mobile Robots and Autonomous Systems

Robotics and Automation

Vehicle Control Applications

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