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A systematic procedure for the identification of dynamic parameters of robot manipulators

Published online by Cambridge University Press:  01 July 1999

G. Antonelli ,
F. Caccavale  and
P. Chiacchio
G. Antonelli
Affiliation:
Dipartimento di Informatica e Sistemistica, Università degli Studi di Napoli Federico II, Via Claudio 21, 80125 Napoli (Italy)
F. Caccavale
Affiliation:
Dipartimento di Informatica e Sistemistica, Università degli Studi di Napoli Federico II, Via Claudio 21, 80125 Napoli (Italy)
P. Chiacchio
Affiliation:
Dipartimento di Informatica e Sistemistica, Università degli Studi di Napoli Federico II, Via Claudio 21, 80125 Napoli (Italy)
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Abstract

In this paper a complete and systematic procedure for the identification of the dynamic parameters of rigid robot manipulators is presented. Starting from the basic results on the subject present in the literature and on a new technique to find exciting trajectories for the estimation, the procedure is developed. A set of algorithms is provided for the implementation of the various steps of the procedure for a generic open-chain structure. The algorithms have been coded in the popular Matlab/Maple environment and the procedure has been tested in a practical case study to identify the dynamic parameters of a six-degree-of-freedom conventional industrial robot.

Keywords

Dynamic parametersRigid robotOpen-chain structureIdentification algorithms
Type
Research Article
Information
Robotica , Volume 17 , Issue 4 , July 1999 , pp. 427 - 435
Copyright
© 1999 Cambridge University Press

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