By Topic

A new method for estimating parameters of a dynamic robot model

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
M. M. Olsen ; Inst. for Production Technol., Odense Univ., Denmark ; H. G. Petersen

The need for open model-based robot controllers becomes more and more important with the increasing quality of autonomous joint motion planners and the increasing amount of applications for these. An important item in a model-based controller is a precise dynamical model of the robot. Such a model is designed in terms of various inertial and friction parameters that must be either measured directly or determined experimentally. In this paper, we present a new method for determining parameters of a dynamical robot model based on experiments. We compare the method with existing methods both theoretically and experimentally, and show that we achieved some improvements in the parameter values by using the new method. The experiments were carried out on the two first links of a seven-axis Mitsubishi PA-10 robot

Published in:

IEEE Transactions on Robotics and Automation  (Volume:17 ,  Issue: 1 )