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

页码：1011 / 1016

页数：6