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TECHNICAL PAPERS

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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References

Figures

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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)
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Joint angular position for the validation trajectory: axis 1 (full line), axis 2 (dashed line) and axis 3 (dash-dotted line)
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Measured motor torque, predicted torque and the corresponding torque prediction errors for the validation trajectory using the combined model
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Measured and predicted reaction forces and torques and the corresponding prediction errors for the validation trajectory using the combined model
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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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