Dynamic parameter identification of the Universal Robots UR5
Sprache des Titels:
Proceedings of the Joint ARW \& OAGM Workshop 2019, May 2019, Steyr
In this paper, methodology for parameter identification of an industrial serial robot manipulator is shown. The presented methodology relies on the fact that any mechanical system can be written in form linear with respect to some set of parameters. Based on experimental measurements done on the Universal Robots UR5, the presented methodology is applied and the dynamical parameters of the robot are determined in two ways. First by use of the Moore-Penrose pseudoinverse, and then by use of optimization. At the end, the ability of the determined parameters to predict measurements other than the ones used for the identification is shown.