Identification of the first joint of the Puma robot

The authors present a method for estimating the dynamic parameters in one joint of an industrial manipulator, the PUMA 560 FA. Modeling and identification of the PUMA robot are reported. The crucial issue in model-based control is how to accurately model friction. This is done for the first joint of PUMA 560. Simple model-based control experiments were performed using a flexible, interactive research environment created at the Tampere University of Technology.<
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