Despite certain advantages such as speed of execution, accessibility and manipulability, industrial robots exhibit structural defects resulting in inaccurate positioning due to geometrical manufacturing errors, elastic deformations (parts, joints) under kinematic and dynamic loads.
Within the context of smart manufacturing, which calls for an integrated production line solution with short cycle times and compatible with automated production, methods of modelling, identification and control will be proposed to improve the performance of robots and collaborative robots.
The practical objective is experimenting several trajectories on a 6-axis robot from Universal Robot and compare them to simulations from a model to build, based on the rigid multibody theory, in order to predict actuators torques.