Dynamic identification of manipulator: Comparison between CAD and actual parameters

Abdullah Aamir Hayat; Vishal Abhishek; Subir K. Saha

Dynamic identification of manipulator: Comparison between CAD and actual parameters

Abdullah Aamir Hayat, Vishal Abhishek, Subir K. Saha

Research output: Contribution to conference › Paper › peer-review

Abstract

It is essential to know the dynamic parameters of the robot for its precise control and simulation. Philosophy of identification is based on finding the model using its input-output data. The identification equation of the manipulator is derived from Newton-Euler equations, using manipulator kinematic, i.e., geometric parameters and joint values as input and joint torque data as output. In this paper, the dynamic parameters are identified for the CAD model provided by the robot manufacturer in simulation. And experimentally for the installed seven degrees of freedom (DOF) robot KUKA-iiwaR800. The variation between the joint torques predicted from the estimated base parameters obtained using CAD model and actual robot are presented. The factors responsible for the variation are also highlighted.

Original language	English
Publication status	Published - 2015
Externally published	Yes
Event	2nd International and 17th National Conference on Machines and Mechanisms, iNaCoMM 2015 - Kanpur, India Duration: Dec 16 2015 → Dec 19 2015

Conference

Conference	2nd International and 17th National Conference on Machines and Mechanisms, iNaCoMM 2015
Country/Territory	India
City	Kanpur
Period	12/16/15 → 12/19/15

Keywords

Base parameters
Dynamics
Identification

ASJC Scopus subject areas

Mechanical Engineering

Cite this

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title = "Dynamic identification of manipulator: Comparison between CAD and actual parameters",

abstract = "It is essential to know the dynamic parameters of the robot for its precise control and simulation. Philosophy of identification is based on finding the model using its input-output data. The identification equation of the manipulator is derived from Newton-Euler equations, using manipulator kinematic, i.e., geometric parameters and joint values as input and joint torque data as output. In this paper, the dynamic parameters are identified for the CAD model provided by the robot manufacturer in simulation. And experimentally for the installed seven degrees of freedom (DOF) robot KUKA-iiwaR800. The variation between the joint torques predicted from the estimated base parameters obtained using CAD model and actual robot are presented. The factors responsible for the variation are also highlighted.",

keywords = "Base parameters, Dynamics, Identification",

author = "Hayat, \{Abdullah Aamir\} and Vishal Abhishek and Saha, \{Subir K.\}",

note = "Publisher Copyright: {\textcopyright} 2015, Indian Institute of Technology, IIT. All rights reserved.; 2nd International and 17th National Conference on Machines and Mechanisms, iNaCoMM 2015 ; Conference date: 16-12-2015 Through 19-12-2015",

year = "2015",

language = "English",

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T1 - Dynamic identification of manipulator

T2 - 2nd International and 17th National Conference on Machines and Mechanisms, iNaCoMM 2015

AU - Hayat, Abdullah Aamir

AU - Abhishek, Vishal

AU - Saha, Subir K.

PY - 2015

Y1 - 2015

N2 - It is essential to know the dynamic parameters of the robot for its precise control and simulation. Philosophy of identification is based on finding the model using its input-output data. The identification equation of the manipulator is derived from Newton-Euler equations, using manipulator kinematic, i.e., geometric parameters and joint values as input and joint torque data as output. In this paper, the dynamic parameters are identified for the CAD model provided by the robot manufacturer in simulation. And experimentally for the installed seven degrees of freedom (DOF) robot KUKA-iiwaR800. The variation between the joint torques predicted from the estimated base parameters obtained using CAD model and actual robot are presented. The factors responsible for the variation are also highlighted.

AB - It is essential to know the dynamic parameters of the robot for its precise control and simulation. Philosophy of identification is based on finding the model using its input-output data. The identification equation of the manipulator is derived from Newton-Euler equations, using manipulator kinematic, i.e., geometric parameters and joint values as input and joint torque data as output. In this paper, the dynamic parameters are identified for the CAD model provided by the robot manufacturer in simulation. And experimentally for the installed seven degrees of freedom (DOF) robot KUKA-iiwaR800. The variation between the joint torques predicted from the estimated base parameters obtained using CAD model and actual robot are presented. The factors responsible for the variation are also highlighted.

KW - Base parameters

KW - Dynamics

KW - Identification

UR - https://www.scopus.com/pages/publications/85015162560

UR - https://www.scopus.com/inward/citedby.url?scp=85015162560&partnerID=8YFLogxK

M3 - Paper

AN - SCOPUS:85015162560

Y2 - 16 December 2015 through 19 December 2015

ER -

Dynamic identification of manipulator: Comparison between CAD and actual parameters

Abstract

Conference

Keywords

ASJC Scopus subject areas

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