Modeling and identification of positioning part of KUKA robot
Result description
An experimental procedure for identifying the friction and dynamic parameters of the industrial robot manipulators is presented. A new approach is offered for obtaining the excitation trajectory based on the parametrization of the trajectories by means of the B-spline functions. In order to estimate the friction and dynamic parameters of the robot, a weighted least square algorithm is used to solve the linear regression problem. The presented procedure is demonstrated on an industrial robot manipulatorfrom the family of KUKA robots.
Keywords
robot manipulatoridentification experimentweighted least squaresbase parameter setexcitation trajectory
The result's identifiers
Result code in IS VaVaI
Result on the web
DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Modeling and identification of positioning part of KUKA robot
Original language description
An experimental procedure for identifying the friction and dynamic parameters of the industrial robot manipulators is presented. A new approach is offered for obtaining the excitation trajectory based on the parametrization of the trajectories by means of the B-spline functions. In order to estimate the friction and dynamic parameters of the robot, a weighted least square algorithm is used to solve the linear regression problem. The presented procedure is demonstrated on an industrial robot manipulatorfrom the family of KUKA robots.
Czech name
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Czech description
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Classification
Type
Jx - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
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Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2011
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Acta Technica
ISSN
0001-7043
e-ISSN
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Volume of the periodical
56
Issue of the periodical within the volume
3
Country of publishing house
CZ - CZECH REPUBLIC
Number of pages
20
Pages from-to
235-254
UT code for WoS article
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EID of the result in the Scopus database
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Basic information
Result type
Jx - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)
CEP
JD - Use of computers, robotics and its application
Year of implementation
2011