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A parameter identification method for robot dynamic models using a balancing mechanism

Published online by Cambridge University Press:  09 March 2009

T. G. Lim ,
H. S. Cho  and
W. K. Chung
H. S. Cho
Affiliation:
Department of Production Engineering, Korea Advanced Institute of Science and Technology, Cheongryangni P.O. Box 150, Seoul (Korea).
W. K. Chung
Affiliation:
Department of Mechanical Engineering, Pohang Institute of Science and Technology, Pohang (Korea).
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Summary

Accurate modeling of robot dynamics is a prerequisite for the design of model-based control schemes and enhancement of the performance of the robot. The dynamic parameters associated with a pseudo-inertia matrix are often difficult to identify accurately because the inertia torques are small in comparison to gravity loadings, thus creating signal processing problem. The identification method presented in this paper utilizes a balancing mechanism which increases the estimation accuracy of the dynamic parameters. The balancing mechanism has the effect of amplifying the inertia-related torque signal by eliminating gravity loadings acting on the robot joints. A series of motion data were experimentally obtained through sequential test steps. By incorporating the measured information about joint torques, angular positions, velocities and accelerations the least square algorithm was used to identify the dynamic parameters. The estimated values were converted to those of the original robot model to obtain its dynamic model parameters. The identified robot dynamic model was shown to be accurate enough to predict the actual robot motions.

Keywords

Robot DynamicModelsBalancing MechanismParameter Identification
Type
Research Article
Information
Robotica , Volume 7 , Issue 4 , October 1989 , pp. 327 - 337
Copyright
Copyright © Cambridge University Press 1989

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