Abstract
Experimental robot identification techniques can principally be divided into two categories, based on the type of models they use : internal or external. Internal models relate the joint torques or forces and the motion of the robot; external models relate the reaction forces and torques on the bedplate and the motion data. This paper describes how internal and external robot models can be combined into one identifiable minimal model. This model allows to combine joint torque/force and reaction torque/force measurements in one parameter estimation scheme. This combined model estimation will yield more accurate parameter estimates, and consequently better actuator torque predictions, which is shown by means of a simulated experiment on an industrial robot (KUKA IR 361). This increased accuracy is quite interesting in view of using advanced control algorithms such as computed torque control.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
