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IJRR
2002

An Experimental Robot Load Identification Method for Industrial Application

9 years 9 months ago
An Experimental Robot Load Identification Method for Industrial Application
Abstract. This paper discusses a new experimental robot load identification method that is used in industry. The method is based on periodic robot excitation and the maximum likelihood estimation of the parameters, techniques adopted from [1]. This method provides (1) accurate estimates of the robot load inertial parameters, and (2) accurate actuator torques predictions, both of which are essential for the acceptance of the results in an industrial environment. The key element to the success of this method is the comprehensiveness of the applied model, which includes beside the dynamics resulting from the robot load and motor inertia, the coupling between the actuator torques, the mechanical losses in the motors and the efficiency of the transmissions. Experimental results on a KUKA industrial robot equipped with a calibrated test load are presented.
Jan Swevers, Walter Verdonck, Birgit Naumer, Stefa
Added 22 Dec 2010
Updated 22 Dec 2010
Type Journal
Year 2002
Where IJRR
Authors Jan Swevers, Walter Verdonck, Birgit Naumer, Stefan Pieters, Erika Biber
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