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A new approach to the dynamic parameter identification of robotic manipulators

Published online by Cambridge University Press:  24 June 2009

Zhongkai Qin ,
Luc Baron  and
Lionel Birglen
Zhongkai Qin*
Affiliation:
Department of Mechanical Engineering, École Polytechnique, Montréal, Québec, CanadaH3C 3A7
Luc Baron
Affiliation:
Department of Mechanical Engineering, École Polytechnique, Montréal, Québec, CanadaH3C 3A7
Lionel Birglen
Affiliation:
Department of Mechanical Engineering, École Polytechnique, Montréal, Québec, CanadaH3C 3A7
*
*Corresponding author. E-mail: zhongkai.qin@polymtl.ca
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Summary

This paper presents a novel systematic approach to identify the dynamic parameters of robotic manipulators. A sequential identification procedure is first proposed to deal with the difficulties usually encountered with standard approaches. An all-accelerometer inertial measurement unit (IMU) is also suggested to estimate the joint velocities and accelerations, which are traditionally obtained by differentiating the joint positions. The IMU kinematics and the computation method for estimation joint motion from IMUs are provided. The proposed method yields promising results in improving the identification precision compared to conventional methods. Finally, practical experiments are conducted to validate the theoretical results.

Keywords

Robot dynamicsDynamic identificationRobotic manipulatorSerial robotInertial measurement
Type
Article
Information
Robotica , Volume 28 , Issue 4 , July 2010 , pp. 539 - 547
Copyright
Copyright © Cambridge University Press 2009

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