Modeling and identification of positioning part of KUKA robot

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F46747885%3A24220%2F11%3A00000942" target="_blank" >RIV/46747885:24220/11:00000942 - isvavai.cz</a>

Result on the web

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DOI - Digital Object Identifier

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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 parametersof the industrial robot manipulators is presented. A new approach is offered for obtaining theexcitation trajectory based on the parametrization of the trajectories by means of the B-splinefunctions. In order to estimate the friction and dynamic parameters of the robot, a weightedleast square algorithm is used to solve the linear regression problem. The presented procedureis demonstrated on an industrial robot manipulator from the family of KUKA robots.

Czech name

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Czech description

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Type

O - Miscellaneous

CEP classification

JD - Use of computers, robotics and its application

OECD FORD branch

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Project

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Continuities

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year

2011

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů