Parameter identification for industrial robots

摘要

Models and model parameters form the base of a computer aided planning of robot manipulations. The identification procedure presented determines the independent, dynamic parameters by trajectories of optimal excitation without the need of disassembling the robot. Joint parameters are identified by fixing the arms and performing static and dynamic tests where the actuators represent an excitation source. A comparison of measurement and calculation verifies the results for a PUMA 562 robot.