Dynamic Identification of the KUKA LBR iiwa Robot With Retrieval of Physical Parameters Using Global Optimization

This paper focuses on the problem of extracting the physical dynamic parameters which are fundamental for computing the positive-definite link mass matrix. To solve this problem, a minimal set of dynamic parameters were firstly identified by the standard least squares method. In order to simplify th...

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Auteurs principaux:	Tian Xu, Jizhuang Fan, Yiwen Chen, Xianyao Ng, Marcelo H. Ang, Qianqian Fang, Yanhe Zhu, Jie Zhao
Format:	Artigo
Langue:	Inglês
Publié:	IEEE 2020-01-01
Collection:	IEEE Access
Sujets:	Dynamic parameter identification physical parameters nonlinear global optimization KUKA LBR iiwa robot
Accès en ligne:	https://ieeexplore.ieee.org/document/9112185/
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