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Identification of the barycentric parameters of robot manipulators from external measurements

โœ Scribed by B. Raucent; G. Campion; G. Bastin; J.C. Samin; P.Y. Willems

Publisher
Elsevier Science
Year
1992
Tongue
English
Weight
474 KB
Volume
28
Category
Article
ISSN
0005-1098

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โœฆ Synopsis

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. The procedure is based on the property that the relations between the robot motion and its reactions on the bedplate are completely independent of the internal joints forces. A convincing validation experiment on a PUMA 562 is reported.

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