65 0

A Numerical Algorith to Identify Independent Grouped Parameters of Robot Manipulator for Control

Title
A Numerical Algorith to Identify Independent Grouped Parameters of Robot Manipulator for Control
Author
박종현
Keywords
Mathematical model; Joints; Null space; Torque; Equations; Manipulators;  space; robot manipulators; identification; inertial parameters; dimensional parameters
Issue Date
2011-07
Publisher
Institute of Electrical and Electronics Engineers
Citation
2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) Advanced Intelligent Mechatronics (AIM), 2011 IEEE/ASME International Conference on. :373-378 Jul, 2011
Abstract
Many of modern control schemes for a robot manipulator require accurate information on the robot dynamics. Thus, it is critical to find the precise dynamic parameters, which include inertial parameters as well as dimensional parameters, accurately. One critical issue in determining accurate model of a robot manipulator is to estimate the inertial and dimensional parameters precisely, such as the mass, location of the center of gravity, and moment of inertia for each link. In order to use linear regression model, which is more efficient than a nonlinear optimization scheme, it is necessary to find a set of independent grouped parameters. Many of them are a product of an inertial parameter and a dimensional parameter or its squared value. Trying to find them analytically or by hand is a time-consuming and error-prone process. This paper proposes a numerical method to identify a set of independent parameters efficiently based on the dependency analysis of the regressors based on measured motion trajectory data of a robot manipulator and shows how they could be used in computing the required joint torque for a desired trajectory. The proposed scheme was applied to a 6-DOF robot manipulator, each link of which has ten inertial and dimensional parameters. The simulation results showed that the proposed method works well in identifying the independent grouped parameters and the estimated torque based on them were accurate.
URI
http://ieeexplore.ieee.org/document/6027068/http://hdl.handle.net/20.500.11754/36695
ISSN
2159-6247; 2159-6255
DOI
10.1109/AIM.2011.6027068
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE