Dynamic model parameter identification system

Details Dynamic model parameter identification system Dynamic model parameter identification system

1993-03-30

1994-10-18

Baker, Stephen M.

Boots, shoes, and leggings

36416701, 395 89, 395 96, 901 2, G06F 1546

Patent

active

053574249

ABSTRACT:
The present invention provides a dynamic model parameter identification system consisting of a parameter classifying part and a motion planning part. The parameter classifying part approximates the respective links forming the manipulator by means of a symmetrical and homogeneous virtual solid link, calculates the inertial parameters, and finally classifies the calculated inertial parameters into parameter groups. The motion planning part calculates the condition number for the parameter coefficient sub-matrix, and calculates the number of equilibriums which is shown by the quotient of the maximum and minimum values of the vector normal of the rows of the coefficient sub-matrix. The motion planning section then sets the motion for parameter identification so that the condition number and number of equilibriums are both below predetermined values. Therefore, it is possible to identify the dynamic parameters of a robotic manipulator with a high degree of accuracy and without carrying out numerous trial-and-error experiments.

REFERENCES:
patent: 4698572 (1987-10-01), Stone
patent: 4763276 (1988-08-01), Perreirra
patent: 4925312 (1990-05-01), Onaga et al.
patent: 5049796 (1991-09-01), Seraji
The American Society of Mechanical Engineers, DSC-vol. 42, Advances in Robotics, Book No. G00751-1992, pp. 193-200, `Experimental Investigation on the Accurate Dynamic Parameter Identification of an Industrial Robotic Manipulator`, Takao Kakizaki, et al.
Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, Jul. 7-10, 1992, 0-7803-0737-2/92, pp. 990-997, Koji Otani, et al., `Dynamic Parameter Identification of an Industrial Robot and Its Application to Trajectory Controls.`

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