Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
EXTERNAL DYNAMIC BEHAVIOR OF AN INDUSTRIAL ROBOTIC SYSTEM
Submission Author:
Wesley Oliveira , SP
Co-Authors:
Wesley Oliveira, ALINE DA CONCEIÇÃO MATHEUS, Wilson Jose de Sa Marques, Luis Gonzaga Trabasso, Emilia Villani, Guilherme Boulhosa Rodamilans
Presenter: ALINE DA CONCEIÇÃO MATHEUS
doi://10.26678/ABCM.COBEM2019.COB2019-2069
Abstract
This paper presents an alternative approach to the identification of industrial robotic system dynamics, which is viewed as a closed-loop Position IN/Position OUT system. The emphasis is on the external dynamics of a conventional 7 degrees-of-freedom (7DoF) serial manipulator with its real-time positional controller. The identified model represents how an external client application interacts with its internal control-loop. The identification experiment is presented and the results concerning the external observed dynamics are discussed. This approach is intended to support integration, validation of simulations and accurate online path-planning algorithms, as it shall be expected in the context of robotic flight simulators and sensor-integrated industrial robotic systems.
Keywords
Industrial Robot, dynamic modelling, Systems identification, real-time robotic systems
