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- Title
一种带负载工业机器人动力学模型辨识方法.
- Authors
陈柏; 谢本华; 丁力; 吴洪涛; 丁亚东
- Abstract
Aiming at the dynamical model identification for the industrial robots with payload, a novel identified method is proposed. Based on the original dynamical model the payload model is built through Newton-Euler method to compensate the original model. Fourier series is designed as exciting trajectory and the weighted least square method is used to identify the unknown parameters in the model. Finally, the established model is validated and analyzed, and all the results show that predicted torques and measured torques match well.
- Publication
Journal of Nanjing University of Aeronautics & Astronautics / Nanjing Hangkong Hangtian Daxue Xuebao, 2016, Vol 48, Issue 6, p835
- ISSN
1005-2615
- Publication type
Article
- DOI
10.16356/j.1005-2615.2016.06.009