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Experimental Robotics II pp 546–560Cite as

Experimental examination of the identification methods for an industrial robot manipulator

  • Section 10: Modelling And Control
  • Conference paper
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Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 190))

Abstract

The step-by-step method and the simultaneous method have been experimentally examined to estimate the dynamic model of PUMA 560. The merits and demerits of the both method are discussed and compared. To evaluate the accuracy of the estimated parameter values, the joint angle trajectories of a real motion and the simulated motions have been compared. From those results it can be said the step-by-step method is more accurate way to estimate the model parameter values than the simultaneous method. The estimated parameter values obtained by the both method will be accurate for the purpose of model based control of the industrial manipulator.

To establish the modeling method for the model based control of industrial manipulators, more experimental works on various types of manipulators are required. In further studies along this line, we will confont the necessity to take into account of compliance of the joints.

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References

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Authors and Affiliations

  1. Department of Control Engineering Faculty of Engineering Science, Osaka University, 1-1 Machikaneyama, Toyonaka Osaka, Japan

    Hirokazu Mayeda, Masaaki Maruyama, Koji Yoshida, Nobuya Ikeda & Osamu Kuwaki

Authors
  1. Hirokazu Mayeda
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  2. Masaaki Maruyama
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  3. Koji Yoshida
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  4. Nobuya Ikeda
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  5. Osamu Kuwaki
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Editor information

Raja Chatila Gerd Hirzinger

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© 1993 Springer-Verlag London Limited

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Mayeda, H., Maruyama, M., Yoshida, K., Ikeda, N., Kuwaki, O. (1993). Experimental examination of the identification methods for an industrial robot manipulator. In: Chatila, R., Hirzinger, G. (eds) Experimental Robotics II. Lecture Notes in Control and Information Sciences, vol 190. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0036164

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  • DOI: https://doi.org/10.1007/BFb0036164

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-19851-2

  • Online ISBN: 978-3-540-39323-8

  • eBook Packages: Springer Book Archive

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