Title

Identification of Parameters for Manipulator Dynamics

Abstract

The need for accurately identifying the dynamic parameters of the manipulators is being recognized, particularly for off-line planning. The Lagrange formulation gives a closed-form representation of these dynamics, and can be used to represent the input-output behavior of the system. A procedure has been developed as described to identify the coefficients of the various dynamic terms in this representation from actual input-output measurements. The procedure has been tested on a real computer-controlled manipulator, and the identification procedure is shown to have modeled the actual system quite accurately.

Meeting Name

USA/Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics

Department(s)

Mechanical and Aerospace Engineering

Keywords and Phrases

Dynamic Parameters; Input-Output System Behavior; Lagrange Formulation

Document Type

Article - Conference proceedings

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 1988 American Society of Mechanical Engineers (ASME), All rights reserved.

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