关键词: 标定, 补偿, 动力学, 机器人

Abstract: To accurately calibrate and identify the parameters of robot joint control system is the key technique for carrying out the scheme of dynamic compensations and for improving the dynamic accuracy of robots. In this paper, the method of direct parameter calibration and identification for robot control systems is proposed and the correctness is perfectly demonstrated by a true example on a robot with two degrees of freedom.

Key words: Calibration, Compensation, Dynamics, Robot