Rigid body load identification for manipulators
- 1 December 1985
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 24, 996-1002
- https://doi.org/10.1109/cdc.1985.268649
Abstract
A method for estimating the mass, the center of mass, and the moments of inertia of a rigid body load during general manipulator movement is presented. The algorithm is derived from the Newton-Euler equations and incorporates measurements of the force and torque from a wrist force/torque sensor and of the arm kinematics. The identification equations are linear in the desired unknown parameters, which are estimated by least squares. We have implemented this identification procedure on a PUMA 600 robot equipped with an RTI FS-B wrist force/torque sensor, and on the MIT Serial Link Direct Drive Arm equipped with a Barry Wright Company Astek wrist force/torque sensor.Keywords
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