Experiments on Model Identification and Control of an Industrial Robot Manipulator

Abstract In this paper a practical implementation of a simplified procedure for the identification of the model of an industrial robot manipulator is presented. The approach consists of selecting a priori only the most significant parameters of the dynamic model of the manipulator and subsequently their value is identified by means of appropriate motions of the links. Then, the identified model is exploited in a model-based controller. Experimental results show how the implementation of the overall methodology can be easily performed in industrial settings, allowing a significant reduction of the trajectory tracking error.

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