Abstract
Dynamic Parameter Identification is a useful tool for developing and evaluating robot control strategies. However, a multi degree of freedom robot arm has many parameters, and the process of determining them is challenging. Much research has been done in this area and experimental methods have been applied on several robot arms. To our knowledge, there is currently no set of inertial parameters, either by modelling or by estimation, available for the CRS A460/A465 arm, a popular laboratory table top robot. In this paper we review and compare a number of methods for dynamic parameter identification and for generating trajectories suitable for estimating the identifiable dynamic parameters of a given robot. We then present a step by step process for dynamic parameter identification of a serial manipulator, and demonstrate this process by experimentally identifying the dynamic parameters of the CRS A460 robot.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 |
| Pages | 3842-3847 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 1 Dec 2007 |
| Externally published | Yes |
| Event | IEEE/RSJ International Conference on Intelligent Robots and Systems 2007 - San Diego, United States of America Duration: 29 Oct 2007 → 2 Nov 2007 https://ieeexplore.ieee.org/xpl/conhome/4398943/proceeding (Proceedings) |
Conference
| Conference | IEEE/RSJ International Conference on Intelligent Robots and Systems 2007 |
|---|---|
| Abbreviated title | IROS 2007 |
| Country/Territory | United States of America |
| City | San Diego |
| Period | 29/10/07 → 2/11/07 |
| Internet address |