Dynamic Parameter Identification Of An Industrial Robot And Its Application To Trajectory Controls

Abstract

An experimental study is presented on the dynamic parameter identification of a typical industrial robotic manipulator, PUMA260. First, parameter coef- ficient equations are derived from a linearized equation of the robot to clarify its base parameters and a mo- tion planning strategy is proposed for accurate identifi- cation. Next, the effects of manipulator configuration, angular velocity and angular acceleration on the iden- tification are experimentally investigated and desirable motion conditions are determined. Moreover, the fea- sibility of a reduced dynamic model consisting of pa- rameters that dominantly contribute to joint torques is studied. Finally, the proposed parameter identification technique is validated by manipulator trajectory control experiments.