Experimental identification of robot dynamic parameters
In previous Chapters 4 and 5 we considered robot dynamic models and identification techniques which can be used to identify their dynamic parameters. Two classes of robots were considered: geared robots and direct drive robots. As an example of the former we described the differential and integral models of the IRp-6 robot (see Section 3.7.2). A representative robot of the latter was the Experimental Direct Drive Robot (EDDA). For this robot we also developed differential and integral models described in Section 3.7.1. Both formulations were described in terms of a minimum set of dynamic parameters which were linear combinations of individual link parameters (mass, centre of mass, and inertia tensor). We assumed the presence of the friction terms in the dynamic equations of motion, with the friction torque were given by Eq.(3.5). It was also proved that both differential and integral models were described in terms of the same set of the canonical parameters (see Section 3.5).
KeywordsCondition Number Integral Model Dynamic Parameter Optimal Trajectory Joint Position
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