Examensarbete, grundnivå
Identifiering av stelkroppsmodell för industrirobot
- Identification
- Robot dynamics
- Optimal excitation
- Identifiering
- Stelkroppsmodell
- Robotdynamik
- Optimering
Sammanfattning
In this masters thesis we consider a method for experimental identification of the inertial parameters of an industrial robot, using measured torques and joint angles. A dynamic model of the first three joints of the robot has been identified.
To achieve good identification results, it is important to carefully choose the trajectory for the experimental identification. A method to generate trajectories using two suggested design criteria has been used and evaluated using an ABB industrial robot, and one of them yields good identification results.