On the identification of the barycentric parameters of robot manipulators from external measurements

Abstract

An original procedure for the estimation of the barycentric parameters of a robot is presented. This procedure requires only the processing of measurements provided by an external experimental set-up (reactions at the bedplate, and position, velocities, and accelerations). The procedure is based on the property that the relations between the robot motion and its reactions on its bedplate are completely independent of the internal joint forces. Some identifiability issues are discussed, and a validation experiment is reported.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>