Abstract
This paper presents the open software package FloBaRoID (FLOating BAse RObot dynamical IDentification), which aims to provide a package implementing all necessary methods to identify robot dynamics parameters starting from a kinematic model. The package features data acquisition and preprocessing, extraction of identifiable base dynamics parameters, and finding physically consistent dynamics parameters for stable control and simulation. The paper details each of these steps and exemplifies the software usage with experimental results for the 7-DOF robot Kuka LWR 4+.
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Notes
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Source and Documentation is available at https://github.com/kjyv/flobaroid.
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Bethge, S., Malzahn, J., Tsagarakis, N., Caldwell, D. (2018). FloBaRoID — A Software Package for the Identification of Robot Dynamics Parameters. In: Ferraresi, C., Quaglia, G. (eds) Advances in Service and Industrial Robotics. RAAD 2017. Mechanisms and Machine Science, vol 49. Springer, Cham. https://doi.org/10.1007/978-3-319-61276-8_18
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DOI: https://doi.org/10.1007/978-3-319-61276-8_18
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