IDENTIFICATION OF THE BARYCENTRIC PARAMETERS OF ROBOT MANIPULATORS FROM EXTERNAL MEASUREMENTS

被引：30
|
作者：
RAUCENT, B [1 ]
CAMPION, G [1 ]
BASTIN, G [1 ]
SAMIN, JC [1 ]
WILLEMS, PY [1 ]
机构：
[1] CATHOLIC UNIV LOUVAIN,CTR SYST ENGN & APPL MECH,B-1348 LOUVAIN,BELGIUM
来源：
AUTOMATICA | 1992年 / 28卷 / 05期
关键词：
ROBOT MODELING; PARAMETER ESTIMATION;
D O I：
10.1016/0005-1098(92)90155-9
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
An original procedure for the estimation of the barycentric parameters of a robot is presented. This procedure requires only the processing of measurements provided by an external experimental set-up. The procedure is based on the property that the relations between the robot motion and its reactions on the bedplate are completely independent of the internal joints forces. A convincing validation experiment on a PUMA 562 is reported.
引用
收藏
页码：1011 / 1016
页数：6
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