DocumentCode :
2318197
Title :
Experimental identification of robot and load dynamic parameters
Author :
Dutkiewicz, Piotr ; Kozlowski, Krzysztof R. ; Wróblewski, Waldemar S.
Author_Institution :
Dept. of Control, Robotics & Comput. Sci., Tech. Univ. Poznan, Poland
fYear :
1993
fDate :
13-16 Sep 1993
Firstpage :
767
Abstract :
Presents an experimental identification of dynamic parameters of a non-direct drive robot and its load, which appear in the integral model, based on the energy theorem formulation. In the robotics literature, there are no experimental results known to the authors concerning the identification of the integral model parameters. In order to satisfy this, an experimental set-up has been built around an industrial ASEA IRp-6 robot. Next the robot dynamic integral model, taking into account friction parameters (viscous and Coulomb), as well as the load dynamic model have been formulated. The experimental results have been presented, including comparison of the results for both integral and differential identification
Keywords :
dynamics; industrial robots; parameter estimation; differential identification; dynamic integral model; energy theorem formulation; experimental identification; friction parameters; industrial ASEA IRp-6 robot; integral identification; load dynamic parameters; nondirect drive robot; robot parameters; Force measurement; Friction; Load modeling; Manipulator dynamics; Position measurement; Robot control; Robot kinematics; Robot sensing systems; Service robots; Velocity measurement;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Applications, 1993., Second IEEE Conference on
Conference_Location :
Vancouver, BC
Print_ISBN :
0-7803-1872-2
Type :
conf
DOI :
10.1109/CCA.1993.348238
Filename :
348238
Link To Document :
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