Experimental Study on the Dynamic Parameter Identification of a Robotic Manipulator.

摘要

An experimental study is presented on the parameter identification of a typical industrial robotic manipulator, PUMA260. First, parameter coefficient equations are derived from a linearized equation of the robot to clarify its base parameters and a motion planning strategy is proposed for accurate identification. Next, the effects of manipulator configuration, angular velocity and angular acceleration on the identification are experimentally investigated and desirable motion conditions are determined. Moreover, the feasibility of a reduced dynamic model consisting of parameters that dominantly contribute to joint torques is studied. Finally, the proposed parameter identification technique is validated by manipulator trajectory control experiments.