research-article

Identification of Robot Dynamic Parameters Based on Equimomental Systems

Authors:

Abdullah Aamir Hayat,

Subir Kumar SahaAuthors Info & Claims

AIR '17: Proceedings of the 2017 3rd International Conference on Advances in Robotics

Article No.: 31, Pages 1 - 6

https://doi.org/10.1145/3132446.3134895

Published: 28 June 2017 Publication History

Abstract

Dynamic parameter identification is essential due to the model-based controller, accurate off-line programming, and validation of simulation results. An identification method is proposed to estimate the torque required for a given trajectory using the concept of equimomental systems which is a dynamically equivalent system of point-masses for the first time. It is experimentally validated by estimating the base parameters and using it for torque reconstruction for a general trajectory on the KUKAiiwa manipulator in order to validate the model identified. Results for the estimated torque using identified model and the torque obtained from robot controller are in the close match.

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Digital Library

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Cited By

Hayat AChaudhary SBoby RUdai ADutta Roy SSaha SChaudhury SHayat AChaudhary SBoby RUdai ADutta Roy SSaha SChaudhury S(2022)IdentificationVision Based Identification and Force Control of Industrial Robots10.1007/978-981-16-6990-3_4(75-113)Online publication date: 22-Mar-2022
https://doi.org/10.1007/978-981-16-6990-3_4
Sharma ASaha SKumar VSen S(2021)Identification of Inertial Parameters and Friction Coefficients for One-Link ManipulatorMachines, Mechanism and Robotics10.1007/978-981-16-0550-5_125(1321-1328)Online publication date: 22-Jul-2021
https://doi.org/10.1007/978-981-16-0550-5_125

Index Terms

Identification of Robot Dynamic Parameters Based on Equimomental Systems
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics

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Identification of Dynamic Parameters and Friction Coefficients

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cover image ACM Other conferences

AIR '17: Proceedings of the 2017 3rd International Conference on Advances in Robotics

June 2017

325 pages

ISBN:9781450352949

DOI:10.1145/3132446

Copyright © 2017 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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IIT-Delhi: IIT-Delhi

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Association for Computing Machinery

New York, NY, United States

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Published: 28 June 2017

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AIR '17

AIR '17: Advances in Robotics

June 28 - July 2, 2017

New Delhi, India

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Cited By

Hayat AChaudhary SBoby RUdai ADutta Roy SSaha SChaudhury SHayat AChaudhary SBoby RUdai ADutta Roy SSaha SChaudhury S(2022)IdentificationVision Based Identification and Force Control of Industrial Robots10.1007/978-981-16-6990-3_4(75-113)Online publication date: 22-Mar-2022
https://doi.org/10.1007/978-981-16-6990-3_4
Sharma ASaha SKumar VSen S(2021)Identification of Inertial Parameters and Friction Coefficients for One-Link ManipulatorMachines, Mechanism and Robotics10.1007/978-981-16-0550-5_125(1321-1328)Online publication date: 22-Jul-2021
https://doi.org/10.1007/978-981-16-0550-5_125

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