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Refining Dynamics Identification for Co-Bots: Case Study on KUKA LWR4+

Kolyubin, Sergey; Shiriaev, Anton; Jubien, Anthony
Journal article, Peer reviewed
Published version
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IFAC_2017_KolyubinShiriaev.pdf (985.7Kb)
URI
http://hdl.handle.net/11250/2568471
Date
2017
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  • Institutt for teknisk kybernetikk [2240]
  • Publikasjoner fra CRIStin - NTNU [20842]
Original version
IFAC-PapersOnLine. 2017, 14626-14623.   10.1016/j.ifacol.2017.08.1741
Abstract
This paper presents an attempt to improve dynamic identification procedure for robotic manipulators, such that obtained models are appropriate for trajectory planning and motion control. In addition to algorithms development, authors bring new insights and arguments for the experiments organisation and analysis of the collected data. Significant part of the work is devoted to a case study in calibrating of a collaborative robot (co-bot) KUKA LWR4+, which represents a powerful tool for modern manufacturing systems. Therefore, refined models compared to the ones relied on CAD data provided by the manufacturer can be beneficial for various applications.
Publisher
International Federation of Automatic Control (IFAC):
Journal
IFAC-PapersOnLine

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