Essential parameters of robots

Author

Pham, C.M. ; Gautier, M.

Author_Institution

ENSM, Lab. d´´Autom., CNRS, Nantes, France

fYear

1991

fDate

11-13 Dec 1991

Firstpage

2769

Abstract

A new stage in the search for the minimum dynamic parameters of robots is presented. A set of essential parameters is obtained from the base parameters by eliminating some of them which are insignificant. This new set of parameters defines a simplified identification model which improves the noise immunity of the estimation process. It contributes also to reducing the computational burden of a simplified dynamic model. Two numerical methods of model reduction, stepwise regression and reduction by SVD (singular value decomposition) analysis, are investigated. The first is shown to be more efficient and better adapted to determining the essential parameters. It can be applied to an open-loop or graph structured rigid robot as well as to a flexible-link robot. Application to the PUMA 560 robot is discussed

Keywords

dynamics; identification; robots; PUMA 560; essential parameters; identification model; model reduction; numerical methods; robots; singular value decomposition; stepwise regression; Computational efficiency; Computational modeling; Equations; Manipulator dynamics; Motion control; Open loop systems; Reduced order systems; Robots; Sampling methods; Singular value decomposition;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1991., Proceedings of the 30th IEEE Conference on

Conference_Location

Brighton

Print_ISBN

0-7803-0450-0

Type

conf

DOI

10.1109/CDC.1991.261862

Filename

261862