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In this monograph we present the experimental results concerning the identification of dynamic parameters of the robot and load. Two types of models, in which dynamic parameters appear, were used: the differential and the integral. In general the differential model uses the knowledge of joint generalised positions, velocities, accelerations and torques, while the integral model requires all mentioned signals to be known except the joint accelerations. In both types of models dynamic parameters appear in a linear form. For the purposes of identification we defined canonical models which are expressed in terms of the minimum set of dynamic parameters. In the canonical model, functions which are associated with the dynamic parameters are linearly independent. The parameters which appear in the canonical model are combinations of the link individual dynamic parameters and do not have a clear physical interpretation. Nevertheless existance of the canonical model is a necessary condition for successful identification. A formal proof, which shows that both models are expressed in terms of the same set of parameters, is given in the monograph.
KeywordsIntegral Model Dynamic Parameter Friction Modelling Optimal Trajectory Canonical Model
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