Identification of a trajectory generator model for the PUMA‐560 robot

摘要

Abstract In this article, work on the experimental identification of a model of the trajectory generator of a PUMA‐560 robot is reported. The model developed is based on theoretical work reported in the literature and the necessary parameters are obtained experimentally. The resulting model is validated versus the corresponding actual robot motions. All experiments are based on the use of a 3D non‐contact position sensor to record the motions of the robot end‐effector. © 1994 John Wiley & Sons, Inc.