Experimental Dynamic Identification of a YuMi Collaborative Robot

被引：9
作者：
Taghbalout, Meryem [1 ]
Antoine, Jean Francois [1 ]
Abba, Gabriel [1 ]
机构：
[1] Univ Lorraine, Arts & Metiers ParisTech, LCFC, F-57000 Metz, France
来源：
IFAC PAPERSONLINE | 2019年 / 52卷 / 13期
关键词：
Robot Identification; Dynamic model; YuMi; Optimization; MODEL;
D O I：
10.1016/j.ifacol.2019.11.354
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In order to improve the precision of robot simulators and to develop new control laws, it is necessary to identify the physical parameters of their dynamic model. In this paper, we propose an estimation of the dynamic parameters of the robot ABB IRB14000 (YuMi). A basic identification method of the robot using the inverse dynamic model and the least squares is used. Numerical values are presented, in this paper, to help interested researchers to develop and improve the results of our own study. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
引用
收藏
页码：1168 / 1173
页数：6
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