A systematic procedure for the identification of dynamic parameters of robot manipulators

被引：62

作者：

Antonelli, G ^{[1
]}

Caccavale, F ^{[1
]}

Chiacchio, P ^{[1
]}

机构：

[1] Univ Naples Federico II, Dipartimento Informat & Sistemist, I-80125 Naples, Italy

来源：

ROBOTICA | 1999年 / 17卷

关键词：

dynamic parameters; rigid robots; open-chain structure; identification algorithms;

D O I：

10.1017/S026357479900140X

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 [机械电子工程]; 1405 [智能科学与技术];

摘要：

In this paper a complete and systematic procedure for the identification of the dynamic parameters of rigid robot manipulators is presented. Starting from the basic results on the subject present in the literature and on a new technique to find exciting trajectories for the estimation, the procedure is developed. A set of algorithms is provided for the implementation of the various steps of the procedure for a generic open-chain structure. The algorithms have been coded in the popular Matlab/Maple environment and the procedure has been tested in a practical case study to identify the dynamic parameters of a six-degree-of-freedom conventional industrial robot.

引用

页码：427 / 435

页数：9

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