Title :
A method for estimating the mass properties of a manipulator by measuring the reaction moments at its base
Author :
West, Harry ; Papadopoulos, Evangelos ; Dubowsky, Steven ; Cheah, Hanson
Author_Institution :
Dept. of Mech. Eng., MIT, Cambridge, MA, USA
Abstract :
Emulating on Earth the weightlessness of a manipulator floating in space requires knowledge of the manipulator´s mass properties. A method for calculating these properties by measuring the reaction forces and moments at the base of the manipulator is described. A manipulator is mounted on a six-degree-of-freedom sensor, and the reaction forces and moments at its base are measured for different positions of the links of the manipulator as well as for different orientations of its base. A procedure is developed to calculate from these measurements some combinations of the mass properties of the manipulator. The mass properties identified are not sufficiently complete for computed torque and other dynamic control techniques, but do allow compensation for the gravitational load on the links of the manipulator, and for simulation of weightless conditions on a space emulator. The algorithm has been experimentally demonstrated on a PUMA 260 and used to measure the independent combinations of the sixteen mass parameters of the base and three proximal links of the manipulator
Keywords :
compensation; parameter estimation; robots; PUMA 260; compensation; gravitational load; manipulator; mass properties; moments; orientations; proximal links; reaction forces; reaction moments; six-degree-of-freedom sensor; weightlessness; Extraterrestrial measurements; Force measurement; Force sensors; Manipulator dynamics; Mechanical factors; Mechanical variables measurement; Position measurement; Space technology; Torque control; Weight control;
Conference_Titel :
Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on
Conference_Location :
Scottsdale, AZ
Print_ISBN :
0-8186-1938-4
DOI :
10.1109/ROBOT.1989.100193
