Identification of the dynamic parameters of a closed loop robot

19 November 2002

conference paper
Published by Institute of Electrical and Electronics Engineers (IEEE)

Vol. 3 (10504729) , 3045-3050
https://doi.org/10.1109/robot.1995.525717

Abstract

This paper presents the experimental results of the identification of the dynamic parameters of the 6 degree of freedom SR400 robot. This industrial robot is characterized by having a parallelogram closed loop and a mechanical coupling between the joints of the hand. The different steps starting from the modelling up to the validation of the results are given. Practical issues are addressed.

Keywords

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