Robot identification for dynamic simulation
نویسنده
چکیده
Robotized laser welding is an application, which requires high speed combined with high precision. Realistic Dynamic Simulations combined with Off-line Programming, significantly enhances the a priory prediction of the weldability of a specific product. Obviously, realistic dynamic simulations require realistic models of the robot and controller. A 3DOF robot model has been formulated which includes lumped inertia parameters, stiffness parameters of the gravity compensation spring and a -three parameterfriction model to describe joint friction. The equations of motion are expressed in the vector of generalized coordinates q and the vector of model parameters p:
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