Identification of Dynamic Parameters of an Industrial Manipulator
نویسندگان
چکیده
This paper discusses the identification of dynamic parameters of an industrial robot KUKA KR5 with all revolute joints and serial architecture. For this, the simplified model of the robot was taken into account by considering only those joints which normally operates orthogonal to the gravity vector. The first approach used for finding the dynamic parameters of this simplified model was by formulating the dynamic model using Euler-Lagrangian (EL) method symbolically. Then the equations of motion obtained were linearized and expressed in terms of the base parameters. The numerical values of base parameters were obtained by linear regression technique applied to the points along a given planar trajectory. Robot sensory interface (RSI) of KUKA KRC2 controller was used to obtain the joint torque and position values. The dynamic parameters obtained were verified by comparing the mass moment obtained from another approach of curve fitting to the joint torque values.
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