Application of Pseudo-Symbolic Dynamic Modeling (PSDM) in the Modeling & Calibration of a 6-DOF Articulated Robot

摘要

This paper describes the modeling, calibration, and benchmarking of the pseudo-symbolic dynamic modeling (PSDM) method on a Denso VS-6556G manipulator outfitted for robotic deburring purposes. PSDM is a numerical dynamic modeling method that allows for fast real-time evaluation and returns the dynamic model in regressive form, allowing for straightforward model calibration. An overview of the PSDM method is given, and the model derivation for the Denso manipulator is demonstrated. This model is calibrated experimentally, along with a joint actuator model and LuGre friction model for each joint. The calibration is highly accurate, capturing 98–100% of the motor, gravity, and friction effects, while the highspeed acceleration fitting captures 81–99% of the observed torque effects. Benchmarking of the PSDM model shows it to be significantly faster than the reverse Newton-Euler algorithm.