From Data to Dynamics:A Statistical Case Study on Modeling the Butterfly Robot

Sammanfattning

This thesis investigates the calibration of the dynamics of a robotic system from a statistical lens. Using a case study of the Butterfly robot, an educational robotic setup developed by Robotikum AB, the study aims to identify and recalibrate the parameters that define the robot's dynamics. The approach relies on grey-box modeling to represent the robot's mechanical system. The dynamics are modeled using nonlinear differential equations, and the parameters are estimated through grey-box methods and frequency response analysis. Experimental data, gathered through simulations in Simulink in MATLAB and real-world tests collected from the Butterfly robot, are used to validate the newly derived model, focusing on the robot's first degree of freedom, which in our case represents the rotation of the robotic hand. The thesis discusses both theoretical foundations and practical applications. The results contribute to the development of more accurate estimates showcased on the Butterfly robot case study.