Robotics & Control
Identification of robots dynamics (in collaboration with JRL, Tsukuba, Japan)
It is important to know correctly the dynamics parameters of link and joint which constitute a robot for its control. Using our developped identification method we identify the inertial parameters of legged systems using the base-link dynamics. This method generally set the base-link at the torso where gyroscope and accelerome-ter are installed in order to calculate base-link velocity and acceleration. We propose a technique to identify without using these sensors. This technique sets the base-link at the sole of the foot and uses the kinematic constraint of the leg connected to the ground. Thus the base-link velocity and acceleration are set to zero. We apply this technique to the humanoid robot HRP-2. This method provide a good alternative for identification when IMU sensor information is not available or too noisy.
In order to develop system that can interact in the human environment we develop fast and robust controllers. We propose a fast motion controller for a robot which has a flexible arm using the IDCS control scheme. The IDCS control scheme, which corresponds to a numerical computation of the inverse dynamics of the systems, allows stable high performance control even when the system model is known with inaccuracies. We applied in simulation the IDCS controller to the robot arm and compared the performances of the IDCS to the most commonly controller used industrial robots: PID controller to consider the performances of the IDCS. We can get good simulation model of the robot for the IDCS by means of identifying the inertial parameters using generalized coordinates of the baselink, the joint angles and the external forces information.In order to stabilize the flexible tip we elaborate a controller using DMM.
We also applied this method to NAO and to a flight simulator.