Abstract
In order to improve the precision of robot simulators and to develop new control laws, it is necessary to identify the physical parameters of their dynamic model. In this paper, we propose an estimation of the dynamic parameters of the robot ABB IRB14000 (YuMi). A basic identification method of the robot using the inverse dynamic model and the least squares is used. Numerical values are presented, in this paper, to help interested researchers to develop and improve the results of our own study.
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