2P1-J03 床反力計測を用いた産業用ロボットの実時間同定(動作計画と制御の新展開)

抄録

It is necessary to know the inertial parameters and the joint dynamics accurately when simulating and controlling robot dynamics. As these parameters are usually not provided by manufacturers and change with the robot task, real time identification is then an essential step in robotics. This paper proposes a method to estimate industrial robots inertial parameters in real time without torque sensor, using generalized coordinates of baselink, joint angles and external forces information. The method has been tested on an industrial robot for transporting wafers which consists in a lifting table and a 3 degree of freedom (DOF) robot arm for the task and real time identification results as well as with adding the mass results are given.