An identification method of industrial robot's dynamic parameters

被引：3

作者：

Ding, Ya-Dong ^{[1
]}

Chen, Bai ^{[1
]}

Wu, Hong-Tao ^{[1
]}

Shen, Hao-Yu ^{[1
]}

机构：

[1] Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, Jiangsu

来源：

Huanan Ligong Daxue Xuebao/Journal of South China University of Technology (Natural Science) | 2015年 / 43卷 / 03期

关键词：

Dynamic parameter; Identification algorithm; Industrial robot; Step-by-step identification; Trajectory optimization;

D O I：

10.3969/j.issn.1000-565X.2015.03.008

中图分类号：

学科分类号：

摘要：

As the identification equations for robots' dynamic parameters become very complicated with the increase of joints, it is difficult to obtain accurate equations of dynamic parameters when a robot is of more than four joints. In order to solve this problem, a step-by-step identification method is proposed. In this method, less inertial parameters should be identified in each step, which results in simpler identification equation, more efficient calculation and smaller accumulative error. Therefore, the parameter estimation can be achieved quite well for the robots with more than four joints. In order to validate the effectiveness of the proposed step-by-step identification method, a robot with six degrees of freedom is taken as an object to conduct the corresponding identification experiments. The results demonstrate that the proposed method is a simple but effective way to obtaining the key dynamic parameters of robots without changing their key dynamic characteristics. ©, 2015, South China University of Technology. All right reserved.

引用

页码：49 / 56

页数：7

共 17 条

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