• CN: 11-2187/TH
  • ISSN: 0577-6686

›› 1999, Vol. 35 ›› Issue (1): 23-26.

• Article • Previous Articles     Next Articles

STUDY ON DYNAMIC PARAMETER IDENTIFICATION OF ROBOT

Wang Shuxin;Zhang Haigen;Huang Tieqiu;Liu Youwu   

  1. Tianjin University
  • Published:1999-01-01

Abstract: The parameter identification of robot is investigated. The CAD method is used to obtain the dynamic parameters of PUMA 760 robot. Based on the theory of multibody system and experiments, these parameters are modified and the dynamic characteristics of the joints is included during the dynamic calculation. The identified results are verified by the experiments.

Key words: Dynamics, Parameter identification Multibody system, Robot

CLC Number: