Preprint / Version 1

ROS-based Toolbox for Motor Parameter Identification of Robotic Manipulators

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DOI:

https://doi.org/10.31224/osf.io/wq6bs

Keywords:

identification for control, robot manipulator, ROS, UR5 robot

Abstract

For many applications, a precise knowledge of the model of the robot is necessary for accurate and stable control. However, it is not always feasible or desirable to perform from scratch an in-depth study of the robot model, especially if it is not an element of concern for the respective application. In this article we present a methodology for identifying motor parameters of a robotic manipulator. We discuss the mathematical model and introduce an extensible toolbox with velocity-control based methodology for a fast identification of individual motor parameters. The results show that we can identify individual parameters even for joints that are commercialised as of the same type.

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Posted

2021-12-14