IEEE - Institute of Electrical and Electronics Engineers, Inc. - Dynamic identification of a mitsubishi pa10-6ce robot using motion capture

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

Author(s): C. Lightcap ; S. Banks
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 October 2007
Conference Location: San Diego, CA, USA
Conference Date: 29 October 2007
Page(s): 3,860 - 3,865
ISBN (CD): 978-1-4244-0912-9
ISBN (Paper): 978-1-4244-0911-2
DOI: 10.1109/IROS.2007.4399425
Regular:

This paper discusses a method to identify dynamic parameters in a rigid-link flexible-joint robot model using motion capture. The procedure is divided into two parts. First, the robot dynamics are... View More

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