A dynamic parameter identification method of industrial robots considering joint elasticity
Considering the joint elasticity, a novel dynamic parameter identification method is proposed for general industrial robots only with motor encoders. Firstly, the unknown parameters of the elastic joint dynamic model are analyzed and divided into two types. The first type is the motion-independent p...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2019-02-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881418825217 |