Nonlinear Identification of a PUMA Manipulator Arm MA2000

Diana Katheryn Poveda Rodríguez; Villamizar Mejía Rodolfo; Jose Jorge Carreño Zagarra

doi:10.4028/www.scientific.net/AMM.704.288

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 704Nonlinear Identification of a PUMA Manipulator Arm...

Nonlinear Identification of a PUMA Manipulator Arm MA2000

Abstract:

This article deals with the tuning of a simplified non-linear model that represents the dynamic behavior of the manipulator arm PUMA MA2000, where excitation signals formed by a finite sum of harmonics Fourier series were used in order to obtain arm dynamical responses. Initially, non-linear mathematical model is derived by using the Euler-Lagrange notation, and then a simplified nonlinear model is obtained and tuned by using the experimental angular position measurements for waist, shoulder and elbow robot joints.

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Periodical:

Applied Mechanics and Materials (Volume 704)

Pages:

288-292

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.704.288

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Online since:

December 2014

Authors:

Diana Katheryn Poveda Rodríguez*, Villamizar Mejía Rodolfo, Jose Jorge Carreño Zagarra

Keywords:

Curve Fitting, Gray-Box Modelling, Robotic Arm, System Identification

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