Title :
Identification of robot dynamics
Author :
Olsen, Howard B. ; Bekey, George A.
Author_Institution :
University of Southern California Los Angeles, CA
Abstract :
Algorithms for the identification of the following robot dynamics parameters are presented: link center of mass positions, link inertia matrices, joint friction coefficients, load mass, load center of mass position and load inertia matrix. Required measurements are the joint forces/torques and the resulting joint motion (joint position, velocity and acceleration). Software implementations are used to show how the algorithms perform on simulated measurement data.
Keywords :
Acceleration; Accelerometers; Force measurement; Friction; Heuristic algorithms; Motion measurement; Position measurement; Robots; Torque measurement; Velocity measurement;
Conference_Titel :
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
DOI :
10.1109/ROBOT.1986.1087532
