TY - GEN
T1 - Identification of robot dynamic parameters based on equimomental systems
AU - Hayat, Abdullah Aamir
AU - Saha, Subir Kumar
N1 - Publisher Copyright:
© 2017 ACM.
PY - 2017/6/28
Y1 - 2017/6/28
N2 - Dynamic parameter identification is essential due to the model-based controller, accurate off-line programming, and validation of simulation results. An identification method is proposed to estimate the torque required for a given trajectory using the concept of equimomental systems which is a dynamically equivalent system of point-masses for the first time. It is experimentally validated by estimating the base parameters and using it for torque reconstruction for a general trajectory on the KUKAiiwa manipulator in order to validate the model identified. Results for the estimated torque using identified model and the torque obtained from robot controller are in the close match.
AB - Dynamic parameter identification is essential due to the model-based controller, accurate off-line programming, and validation of simulation results. An identification method is proposed to estimate the torque required for a given trajectory using the concept of equimomental systems which is a dynamically equivalent system of point-masses for the first time. It is experimentally validated by estimating the base parameters and using it for torque reconstruction for a general trajectory on the KUKAiiwa manipulator in order to validate the model identified. Results for the estimated torque using identified model and the torque obtained from robot controller are in the close match.
KW - Dynamic identificaion
KW - Equimomnetal system
KW - Robotics
UR - https://www.scopus.com/pages/publications/85038425398
UR - https://www.scopus.com/pages/publications/85038425398#tab=citedBy
U2 - 10.1145/3132446.3134895
DO - 10.1145/3132446.3134895
M3 - Conference contribution
AN - SCOPUS:85038425398
T3 - ACM International Conference Proceeding Series
BT - Proceedings of the Advances in Robotics, AIR 2017
PB - Association for Computing Machinery
T2 - Conference on Advances in Robotics, AIR 2017
Y2 - 28 June 2017 through 2 July 2017
ER -