DocumentCode
3445377
Title
Identification of the dynamic parameters of a closed loop robot
Author
Gautier, M. ; Khalil, W. ; Restrepo, P.P.
Author_Institution
Lab. d´´Autom., Nantes Univ., France
Volume
3
fYear
1995
fDate
21-27 May 1995
Firstpage
3045
Abstract
This paper presents the experimental results of the identification of the dynamic parameters of the 6 degree of freedom SR400 robot. This industrial robot is characterized by having a parallelogram closed loop and a mechanical coupling between the joints of the hand. The different steps starting from the modelling up to the validation of the results are given. Practical issues are addressed
Keywords
closed loop systems; industrial robots; parameter estimation; robot dynamics; robot kinematics; 6 DOF robot; SR400 robot; closed loop robot; dynamic parameter identification; hand joints; industrial robot; mechanical coupling; parallelogram closed loop; six degree of freedom robot; Friction; Least squares approximation; Network-on-a-chip; Parallel robots; Parameter estimation; Robot kinematics; Robotics and automation; Service robots; Solid modeling; Tree data structures;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location
Nagoya
ISSN
1050-4729
Print_ISBN
0-7803-1965-6
Type
conf
DOI
10.1109/ROBOT.1995.525717
Filename
525717
Link To Document