Dynamic Parameter Identification for the CRS A460 robot

Katayon Radkhah, Dana Kulic, Elizabeth Croft

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

31 Citations (Scopus)

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 languageEnglish
Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages3842-3847
Number of pages6
DOIs
Publication statusPublished - 1 Dec 2007
Externally publishedYes
EventIEEE/RSJ International Conference on Intelligent Robots and Systems 2007 - San Diego, United States of America
Duration: 29 Oct 20072 Nov 2007
https://ieeexplore.ieee.org/xpl/conhome/4398943/proceeding (Proceedings)

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems 2007
Abbreviated titleIROS 2007
CountryUnited States of America
CitySan Diego
Period29/10/072/11/07
Internet address

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