Study on Two-Step Method for Robot Dynamics Parameters Calibration

Abstract:

In order to obtain accurate dynamics parameters, a two-step method for robot dynamics parameters calibration is presented. In the first step a multidimensional matrix is constituted through transforming the configurations of robot manipulators and the product of quality and centroid coordinate about links is solved by using the least square method. In the second step decoupling dynamic equation of robot is deduced based on Newton-Euler algorithm, and through planning specific joint movement, the inertia tensor and centroid coordinate of robot links are calibrated making use of the pseudo inverse method. By the above two steps, the entire calibration of robot dynamic parameters is achieved. The correctness and feasibility of the presented calibration method is manifested by simulations and experiments.

• Periodical: Advanced Materials Research (Volumes 605-607)
• Pages: 1557-1562
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.605-607.1557
• Online since: December 2012
• Authors: Qing Xuan Jia, Tong Li, Gang Chen
• Keywords: Dynamics Parameters Calibration, Robot Manipulator, Two-Step Method

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