A PARAMETER IDENTIFICATION METHOD FOR THE

 JOINT CONTROL SYSTEM OF ROBOTS

Zhou Xuecai  Zhang Qixian 

(Beijing University of Aeronautics & Astronautis)

Yin Chaowan

(Shenyang Institute of Automation, Chinese Academy of Sciences)

Abstract: To accurately calibrate and identify the parameters of robot joint control system is the key technique for carrying out the scheme of dynamic compensations and for improving the dynamic accuracy of robots. In this paper, the method of direct parameter calibration and identification for robot control systems is proposed and the correctness is perfectly demonstrated by a true example on a robot with two degrees of freedom.
Key words: Robot  Dynamics  Calibration  Compensation
中科院机器人学开放研究实验室资助项目. Received 19910303, received in revised form 19920317