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
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;
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.1995.525717
