Identification of the Dynamic Parameters of the KUKA LWR4+ Robots and Preliminary Estimation of Their Time Variance

Łukasz Woliński

Abstract

The presented research is focused on identification of the dynamic parameters of two 7 DOF KUKA LWR4+ serial manipulators. The main goal is to estimate the differences between parameters of two robots as well as variability of parameters during a long period of time.
Author Łukasz Woliński WMEiL
Łukasz Woliński,,
- Faculty of Power and Aeronautical Engineering
Pages74-74
Publication size in sheets0.3
Book Kochanek A., Kądziołka T., Kowalski S. (eds.): 25th International Conference on Theory of Machines and Mechatronic Systems. Modern Trends in Theory of Machines and Mechatronic Systems, 2016, ISBN 978-83-936009-3-9
Keywords in Englishrobot modeling, multibody dynamics, identification
Languageen angielski
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