Experimental Robot Identification: Advantages of Combining Internal and External Measurements and of Using Periodic Excitation

[+] Author and Article Information
Walter Verdonck, Jan Swevers

Department of Mechanical Engineering, Katholieke Universiteit Leuven, 3001 Heverlee, Belgium

Jean-Claude Samin

Department of Mechanical Engineering, Université catholique de Louvain, 1348 Louvain-la-Neuve, Belgium

J. Dyn. Sys., Meas., Control 123(4), 630-636 (Feb 17, 2001) (7 pages) doi:10.1115/1.1409936 History: Received February 17, 2001
Copyright © 2001 by ASME
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Grahic Jump Location
Schematic representation of a KUKA IR 361 robot
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Optimized robot excitation trajectory: axis 1 (full line), axis 2 (dashed line) and axis 3 (dash-dotted line)
Grahic Jump Location
Joint angular position for the validation trajectory: axis 1 (full line), axis 2 (dashed line) and axis 3 (dash-dotted line)
Grahic Jump Location
Measured motor torque, predicted torque and the corresponding torque prediction errors for the validation trajectory using the combined model
Grahic Jump Location
Measured and predicted reaction forces and torques and the corresponding prediction errors for the validation trajectory using the combined model
Grahic Jump Location
Accelerations obtained by analytical and numerical differentiation (using Tustin’s bilinear differentiation rule) of joint angle measurements: axis 1 (full line), axis 2 (dashed line) and axis 3 (dash-dotted line)



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