@inproceedings{a1ce95d3ccc4498e8346b4964a74b9ab,
title = "Dynamic parameter identification of a robot in a simulated environment",
abstract = "Off-line programming of a robot relies on the kinematic and dynamic model of the robot in the simulated environment. This paper discusses the identification of dynamic parameters of a robot in a simulated environment. The input parameters such as torque and joint values are taken from the RoboAnalyzer (RA), a 3D model based robotics learning software. Serial manipulator KUKA KR5 model having six DOF is taken for identification. The reduced dynamic formulation was done using Newton Euler formulation for serial systems. Quintic trajectory is utilized for identification process as it results in exciting all the dynamic parameters of the reduced model. Base parameters for six DOF robot KUKA KR5 was found in simulated environment. The identified model exactly matches with the dynamic model of RA, as measurement noises are absent. The simulated environment of RoboAnalyzer has an advantage of acquiring the joint values and torque data using Inverse dynamics.",
keywords = "Dynamic identification, RoboAnalyzer, Simulation",
author = "Hayat, \{Abdullah Aamir\} and Vishal Abhishek and Saha, \{Subir K.\}",
year = "2015",
language = "English",
series = "Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics 2015, Multibody Dynamics 2015",
publisher = "International Center for Numerical Methods in Engineering",
pages = "1417--1424",
editor = "Font-Llagunes, \{Josep M.\}",
booktitle = "Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics 2015, Multibody Dynamics 2015",
note = "2015 ECCOMAS Thematic Conference on Multibody Dynamics, Multibody Dynamics 2015 ; Conference date: 29-06-2015 Through 02-07-2015",
}