IDENTIFICATION OF A TRAJECTORY GENERATOR MODEL FOR THE PUMA-560 ROBOT

Authors
TONDU B ELZORKANY H
Citation
B. Tondu et H. Elzorkany, IDENTIFICATION OF A TRAJECTORY GENERATOR MODEL FOR THE PUMA-560 ROBOT, Journal of robotic systems, 11(2), 1994, pp. 77-90
Citations number
8
Categorie Soggetti
Controlo Theory & Cybernetics","Computer Application, Chemistry & Engineering","Robotics & Automatic Control
Journal title
Journal of robotic systems → ACNP
ISSN journal
07412223
Volume
11
Issue
2
Year of publication
1994
Pages
77 - 90
Database
ISI
SICI code
0741-2223(1994)11:2<77:IOATGM>2.0.ZU;2-7
Abstract
In this article, work on the experimental identification of a model of the trajectory generator of a PUMA-560 robot is reported. The model d eveloped is based on theoretical work reported in the literature and t he necessary parameters are obtained experimentally. The resulting mod el is validated versus the corresponding actual robot motions. All exp eriments are based on the use of a 3D non-contact position sensor to r ecord the motions of the robot end-effector. (C) 1994 John Wiley & Son s, Inc.