Identification of 6 DOF Rigid Industrial Robots with the Instrumental Variable Method
type: Dataset
description: This paper deals with the topic of robots dynamics identification. In this paper, we focus on the instrumental variable (IV) technique. For robots, the set of instruments is the inverse dynamic model built from simulated data which are calculated from the integration of the direct dynamic model, assuming the same reference trajectories and the same control law structure for both actual and simulated robots. The integration of the direct dynamic model is based on previous IV estimates. This defines an iterative algorithm. Furthermore, gains of the simulated controller are updated to get a fast convergence. Experimental results obtained on a six degrees of freedom robot manufactured by Stäubli show the effectiveness of our approach: 60 dynamic parameters are estimated in only two iterations.
landing page: System Identification
keyword: automatique
keyword: conference-papers
keyword: identification
keyword: infoeu-reposemanticsconferenceobject
keyword: modele-dynamique
keyword: robot
keyword: robotique
keyword: spiautoengineering-sciences-physicsautomatic
keyword: variable
issued: 2026-05-10T02:46:27.953500
modified: 2026-05-10T02:46:27.953504
language: en
contact point: Organization
  fn: CCSD

test_moissonnage_selune
type: Agent

Identification of 6 DOF Rigid Industrial Robots with the Instrumental Variable Method
type: Distribution
format: HTML
access URL: https://hal.science/hal-00851515
issued: 2026-05-10T02:46:27.961296
modified: 2026-05-10T02:46:27.943750