A PARAMETER IDENTIFICATION METHOD FOR THE JOINT CONTROL SYSTEM OF ROBOTS

Abstract

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

Zhou Xuecai;Zhang Qixian;Yin Chaowan. A PARAMETER IDENTIFICATION METHOD FOR THE JOINT CONTROL SYSTEM OF ROBOTS[J]. , 1993, 29(1): 102-108.

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A PARAMETER IDENTIFICATION METHOD FOR THE JOINT CONTROL SYSTEM OF ROBOTS

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