Rigid Body Model Identification of a 7-DOF Lightweightrobot (DLR LWR) Using Periodic Excitation Trajectories

The new DLR Lightweightrobot (LWR) with 7 degrees of freedom (DOF) enables complex motions comparable to those by a human arm. A rigid body model needs to be established and the dynamic parameters of the robot as well as a payload are asked to be identified. This will be done by augmenting periodic excitation trajectories through the Fast Research Interface (FRI) capable of sampling rates as short as 1ms. The identified model needs to be verified in simulations and experiments.

Bild: DLR

Methods Used:
[ Experimental robot and payload identification with application to dynamic trajectory compensation, W. Verdonck, PhD thesis, Mech. Eng. Dept., K.U. Leuven, Belgium, 2004],
[ Experimental robot identification using optimised periodic trajectories, J. Swevers, C. Ganseman, J. De Schutter and H. Van Brussel, Mechanical Systems and Signal Processing, Volume 10, Issue 5, September 1996, Pages 561-577],
[ Optimal robot excitation and identification, J. Swevers, C. Ganseman, D.B. Tukel, J. de Schutter, H. Van Brussel, Robotics and Automation, IEEE Transactions on Volume 13, Issue 5, Oct. 1997 Page(s):730 - 740],
[ An experimental robot load identification method for industrial application, Swevers J., Verdonck W., Naumer B., Pieters S., Biber E., The International Journal of Robotics Research, 21(8):701–712, 2002].

If you are interested in this project and have any questions don't hesitate to contact Hannes Gruschinski or Pablo Zometa.

Parameter/Model Identification, Robot Modeling, Trajectory Generation

Lectures: Control 1 (Regelungstechnik), Optimal Control, Dynamics of Mechanical Systems
Software: MATLAB, Mathematica, C, C++

As soon as possible

Literature search	10%
Systems modeling and optimization	30%
Simulation/programming	30%
Experimental work/verification	30%

Hannes Gruschinski or Pablo Zometa.