Consistent dynamic model identification of the Stäubli RX-160 industrial robot using convex optimization method

Dynamic models of robot manipulators with standard dynamic parameters are required for simulations, model-based controller design and external force estimation. The aim of this work is to identify the complete dynamic model of the 6-axis Stäubli RX-160 industrial robot. A convex optimization-based m...

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Bibliographic Details
Published in:	Journal of mechanical science and technology Vol. 35; no. 5; pp. 2185 - 2195
Main Authors:	Argin, Omer Faruk, Bayraktaroglu, Zeki Yagiz
Format:	Journal Article
Language:	English
Published:	Seoul Korean Society of Mechanical Engineers 01.05.2021 Springer Nature B.V 대한기계학회
Subjects:	Computational geometry Control Control systems design Convex analysis Convexity Dynamic models Dynamical Systems End effectors Engineering Friction Industrial and Production Engineering Industrial robots Low speed Mechanical Engineering Optimization Original Article Parameter estimation Parameter identification Performance evaluation Robot arms Robots Springs (elastic) Vibration 기계공학 Industrial robots Excitation trajectory Convex optimization Dynamic model identification Force estimation
ISSN:	1738-494X, 1976-3824
Online Access:	Get full text
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