Modelling and Identification of STAUBLI RX-60 Robot

O. Karahan, Z. Bingul
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引用次数: 13

Abstract

This paper deals with the modelling and identification of an industrial Staubli RX-60 robot. A Lagrange-Euler method is used to derive the dynamic equations of the robot. The dynamic model introduced here was obtained with the distinct parameters. In this paper, a least squares estimation for determining parameters of a dynamic Staubli RX-60 robot model based on experiments was used. The robot was moved with respect to many experiments formed. At the end of the movement, data such as the position and velocity was taken from the robot. Moreover, the acceleration was taken from SIMI Motion with a three cameras system and torque was measured from the loadcell (FTC-L50) sensor during the robot experiments. The inertial parameters of the robot were estimated according to these data. The estimation values were verified experimentally. The experimental results show that the estimated inertial parameters predict robot dynamics well. The errors of the torque estimation were also computed and they are between 0.0171 Nm and 0.1136 Nm.
STAUBLI RX-60机器人建模与辨识
本文研究了工业机器人Staubli RX-60的建模与辨识。采用拉格朗日-欧拉法推导了机器人的动力学方程。本文所介绍的动力学模型具有不同的参数。在实验的基础上,采用最小二乘估计确定动态Staubli RX-60机器人模型的参数。机器人的运动与许多实验形成了对比。在运动结束时,从机器人获取位置和速度等数据。此外,在机器人实验过程中,加速度由SIMI Motion用三摄像头系统采集,扭矩由称重传感器(FTC-L50)传感器测量。根据这些数据估计了机器人的惯性参数。实验验证了估计结果。实验结果表明,所估计的惯性参数能较好地预测机器人的动力学特性。计算了转矩估计误差在0.0171 ~ 0.1136 Nm之间。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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