A Persistent Method for Parameter Identification of a Seven-Axes Manipulator
Sprache des Vortragstitels:
22nd International Workshop on Robotics in Alpe-Adria-Danube Region
Sprache des Tagungstitel:
This paper presents a persistent method for the identification problem of open chained robotic systems. Based on the Projection Equation, a new, direct method to collect the dynamic and friction parameters in linear form is worked out. However , in this form, linear dependencies in the parameters occur and they are canceled out with the help of the QR algorithm. The obtained linear independent parameters are the base parameters of the system. To ensure a good excitation, the identification is improved by using optimized trajectories defined by Fourier-series taking also physical constraints into account. The evaluation of the dynamic robot parameters is realized with a least squares error optimization. Furthermore, the result strongly depends on
a special choice of weighting matrices for the error. Experimental
results for a seven axes redundant robotic system (standard six axes
industrial manipulator mounted on a linear axis) are discussed in detail.