Abstract
In this paper, an experimental method is proposed to identify the relationship between the actuator space and joint space of an industrial robot, KUKA KR5. The mathematical model in the form of matrix relating the actuator and joint space is termed as "structure matrix". This matrix is useful in identifying the robot's architecture for the transfer of motion. Further, the torques required to balance the robot against gravity was identified through Fourier series fit. For that, only the joints that are orthogonal to the gravity direction were considered as they influence the most. The identified joint torques were validated by considering different trajectories than those used to identify the necessary coefficients of the Fourier series.
| Original language | English |
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| Pages | 742-748 |
| Number of pages | 7 |
| Publication status | Published - 2013 |
| Externally published | Yes |
| Event | 1st International and 16th National Conference on Machines and Mechanisms, iNaCoMM 2013 - Roorkee, India Duration: Dec 18 2013 → Dec 20 2013 |
Conference
| Conference | 1st International and 16th National Conference on Machines and Mechanisms, iNaCoMM 2013 |
|---|---|
| Country/Territory | India |
| City | Roorkee |
| Period | 12/18/13 → 12/20/13 |
Keywords
- Actuator and joint spaces
- Gravity torque identification
- Kinematic chain
- Structure matrix
ASJC Scopus subject areas
- Mechanical Engineering