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Dynamic Parameter Identification for the CRS A460 Robot

Radkhah, Kathayon and Kulic, D. and Croft, E. (2007):
Dynamic Parameter Identification for the CRS A460 Robot.
In: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), [Conference or Workshop Item]

Abstract

Dynamic Parameter Identification is a useful tool for developing and evaluating robot control strategies. However, a multi degree of freedom robot arm has many parameters, and the process of determining them is challenging. Much research has been done in this area and experimental methods have been applied on several robot arms. To our knowledge, there is currently no set of inertial parameters, either by modelling or by estimation, available for the CRS A460/A465 arm, a popular laboratory table top robot. In this paper we review and compare a number of methods for dynamic parameter identification and for generating trajectories suitable for estimating the identifiable dynamic parameters of a given robot. We then present a step by step process for dynamic parameter identification of a serial manipulator, and demonstrate this process by experimentally identifying the dynamic parameters of the CRS A460 robot.

Item Type: Conference or Workshop Item
Erschienen: 2007
Creators: Radkhah, Kathayon and Kulic, D. and Croft, E.
Title: Dynamic Parameter Identification for the CRS A460 Robot
Language: German
Abstract:

Dynamic Parameter Identification is a useful tool for developing and evaluating robot control strategies. However, a multi degree of freedom robot arm has many parameters, and the process of determining them is challenging. Much research has been done in this area and experimental methods have been applied on several robot arms. To our knowledge, there is currently no set of inertial parameters, either by modelling or by estimation, available for the CRS A460/A465 arm, a popular laboratory table top robot. In this paper we review and compare a number of methods for dynamic parameter identification and for generating trajectories suitable for estimating the identifiable dynamic parameters of a given robot. We then present a step by step process for dynamic parameter identification of a serial manipulator, and demonstrate this process by experimentally identifying the dynamic parameters of the CRS A460 robot.

Title of Book: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)
Divisions: 20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
20 Department of Computer Science
Date Deposited: 20 Jun 2016 23:26
Identification Number: radkhah:2007
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