Title :
Parameter identification for industrial robots
Author :
Pfeiffer, Friedrich ; Hölzl, J.
Author_Institution :
Lehrstuhl B fur Mech., Tech. Univ. Munchen, Germany
Abstract :
Models and model parameters form the base of a computer aided planning of robot manipulations. The identification procedure presented determines the independent, dynamic parameters by trajectories of optimal excitation without the need of disassembling the robot. Joint parameters are identified by fixing the arms and performing static and dynamic tests where the actuators represent an excitation source. A comparison of measurement and calculation verifies the results for a PUMA 562 robot
Keywords :
actuators; computer aided production planning; friction; identification; industrial control; industrial robots; robot dynamics; PUMA 562 robot; actuators; computer aided planning; dynamic parameters; excitation; friction; industrial robots; joint parameters; model parameters; parameter identification; robot manipulations; Arm; Equations; Friction; Legged locomotion; Parallel robots; Parameter estimation; Robot kinematics; Robotic assembly; Robotics and automation; Service robots;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525483
