DocumentCode
3328409
Title
Identification of the first joint of the Puma robot
Author
Mailisto, J. ; Sorvari, Jarmo ; Koivo, Heikki N.
Author_Institution
Dept. of Electr. Eng., Tampere Univ. of Technol., Finland
fYear
1991
fDate
28 Oct-1 Nov 1991
Firstpage
1095
Abstract
The authors present a method for estimating the dynamic parameters in one joint of an industrial manipulator, the PUMA 560 FA. Modeling and identification of the PUMA robot are reported. The crucial issue in model-based control is how to accurately model friction. This is done for the first joint of PUMA 560. Simple model-based control experiments were performed using a flexible, interactive research environment created at the Tampere University of Technology
Keywords
friction; identification; industrial robots; PUMA 560 FA; Tampere University of Technology; dynamic parameter estimation; friction; identification; industrial manipulator; industrial robot; model-based control; Books; Equations; Friction; Gears; Industrial control; Manipulator dynamics; PD control; Paper technology; Robot sensing systems; Service robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics, Control and Instrumentation, 1991. Proceedings. IECON '91., 1991 International Conference on
Conference_Location
Kobe
Print_ISBN
0-87942-688-8
Type
conf
DOI
10.1109/IECON.1991.239137
Filename
239137
Link To Document