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
fDate :
28 Oct-1 Nov 1991
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;
Conference_Titel :
Industrial Electronics, Control and Instrumentation, 1991. Proceedings. IECON '91., 1991 International Conference on
Conference_Location :
Kobe
Print_ISBN :
0-87942-688-8
DOI :
10.1109/IECON.1991.239137
