Identification of Parameters for Manipulator Dynamics
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.
S. K. Singh and M. Leu, "Identification of Parameters for Manipulator Dynamics," Proceedings of the USA/Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics, American Society of Mechanical Engineers (ASME), Jan 1988.
USA/Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics
Mechanical and Aerospace Engineering
Keywords and Phrases
Dynamic Parameters; Input-Output System Behavior; Lagrange Formulation
Article - Conference proceedings
© 1988 American Society of Mechanical Engineers (ASME), All rights reserved.