Automatic Model Identification of ABB Industrial Robots
نویسندگان
چکیده
In this paper we present an automatic model identification tool of ABB's industrial robots. The tool has been developed entirely in Matlab and has made extensive use of the graphical-user-interface options and the objectoriented design philosophy made possible in Matlab versions 5.0 and newer. The tool is able to automatically identify rigid-body robot parameters such as inertias and Coriolis forces and flexible robot parameters such as joint stiffness and damping. The identified parameters are fed back into the robot controller to achieve a near optimal path following performance of the robot's tool.
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