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On the identification of continuous-time inverse dynamic
model of electromechanical systems operating in closed loop
with an instrumental variable approach: application to
industrial robots
Soutenance d’HDR – Alexandre JANOT
30 Mars 2017
Auditorium ONERA Centre Toulouse
Devant le jury composé de :
POIGNET Philippe, Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier LIRMM
ROGERS Eric, University of Southampton
SCHOUKENS Johan, Vrije Universiteit Brussel
LJUNG Lennart, Linköping University
YOUNG Peter, University of Lancaster
GARNIER Hugues, Université de Lorraine, CRAN
BIDAUD Philippe, ONERA
GAUTIER Maxime, Université de Nantes, IRCCyN
VANDANJON Pierre-Olivier, LUNAM University, Ifsttar
CARRILLO Francisco, Laboratoire Génie de Production
Résumé
The works focus on the identification of industrial robots that belongs to the field of the identification of
continuous-time inverse dynamic models in closed loop. First, a generic instrumental approach relevant
for the identification of rigid industrial robots is proposed. The set of instruments is the inverse dynamic
model constructed from simulated data calculated from the simulation of the direct dynamic model. This
algorithm termed the IDIM-IV method validates the inverse and direct dynamic models simultaneously,
improves the noise immunity of estimates with respect to corrupted data in the observation matrix and
has a rapid convergence. This new approach is experimentally validated and compared with other
standard methods. Then, a statistical test able to assess the validity of the set of instruments as well as the
consistency of the least-squares estimates is presented. This test is based on the use of the Two-StageLeast-Squares method and the regressed Durbin-Wu-Hausman test that are commonly used in
econometrics. Finally, the perspectives that the IDIM-IV method can offer to the communities of robotics
and automatic control are enlightened.
Mots clés
Closed-loop identification, least-squares, instrumental variable, inverse dynamic model, robotics