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Inertial Calibration of Robotic Manipulators

The effective computed--torque control of robotic manipulators relies on accurate estimations of the inertial parameters of the manipulator. Identification techniques based upon manipulator force and motion measurements are attractive for a number of reasons. However, the complex structure of robot dynamics can make estimation of the parameters difficult and the results of experiments hard to interpret. In this project we examine the algebraic structure of the models used in robot dynamics for purposes of inertial parameter identification. Emphasis is placed on off--line techniques and the use of special test motions. Issues of concern are joint--friction modelling, trajectory optimization for identification, verification of the identified parameters, and the use of linear and nonlinear error-in-variables identification methods. Both manipulator joint torque and base reaction models are being studied. Experiments involving the two models are also undertaken, those for the base reaction model employing a high resolution force-and-moment sensing platform.
R. Lucyshyn, J. Angeles

Thierry Baron
Mon Nov 13 10:43:02 EST 1995