Identification of contact dynamics parameters for stiff robotic payloads

  • Authors:

  • Diederik Verscheure;Inna Sharf;Herman Bruyninckx;Jan Swevers;Joris De Schutter

  • Affiliations:

  • Division Production Engineering, Machine Design and Automation, Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium;Department of Mechanical Engineering, McGill University, Montreal, QC, Canada;Division Production Engineering, Machine Design and Automation, Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium;Division Production Engineering, Machine Design and Automation, Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium;Division Production Engineering, Machine Design and Automation, Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium

  • Venue:
  • IEEE Transactions on Robotics
  • Year:
  • 2009

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Abstract

This paper investigates and demonstrates the feasibility of identifying contact dynamics parameters for stiff robotic payloads using a robotic system. The contact dynamics model for stiff payloads is motivated, and theoretical parameter values and bounds are provided. Then, the effect of nonidealities such as surface roughness and plastic deformation on the theoretical values is demonstrated. A row-wise-scaled total least-squares parameter estimation algorithm is proposed and applied to experimental data measured using the Special Purpose Dexterous Manipulator Task Verification Facility manipulator at the Canadian Space Agency. The experimental results are compared to a separate set of experiments with a material testing machine as well as finite-element modeling results. Finally, the experimental findings are generalized by providing guidelines for the maximum identifiable payload stiffness as a function of the position resolution, the maximum exertable force, and the structural stiffness of the robotic system.