DocumentCode
385010
Title
Identification of robot dynamics
Author
Olsen, Howard B. ; Bekey, George A.
Author_Institution
University of Southern California Los Angeles, CA
Volume
3
fYear
1986
fDate
31503
Firstpage
1004
Lastpage
1010
Abstract
Algorithms for the identification of the following robot dynamics parameters are presented: link center of mass positions, link inertia matrices, joint friction coefficients, load mass, load center of mass position and load inertia matrix. Required measurements are the joint forces/torques and the resulting joint motion (joint position, velocity and acceleration). Software implementations are used to show how the algorithms perform on simulated measurement data.
Keywords
Acceleration; Accelerometers; Force measurement; Friction; Heuristic algorithms; Motion measurement; Position measurement; Robots; Torque measurement; Velocity measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1986.1087532
Filename
1087532
Link To Document