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Parameter Identification of a 7-DOF Robot Manipulator Considering Physical Feasibility


L. Affolter

Master Thesis, HS15 (10428)


More and more tasks in human's environment are taken over by robot manipulators. The tasks are getting more complex and so do the robots. Stable control and accurate simulation environments are therefore indispensable. Both points get even more important when multiple robots perform cooperative tasks together. The key to achieve good control is to know the dynamic parameters which define the model of the robot as accurate as possible. Neither are the parameters of high-DOF robots published nor are they identifiable by inspection. Therefore a parameter estimation is performed on the 7-DOF KUKA LWR iiwa 14 R820.

First the robot kinematics of the R820 are deduced with respect to the Modified Denavit- Hartenberg convention. Knowing the kinematics, the equations of the dynamic model are formulated and the parameters are extracted which need to be identified. The number of parameters are reduced to the base parameters because they do not influence the dynamic model or are linearly dependent. An excitation trajectory based on Fourier Series terms is found by minimizing the condition number of the observation matrix. Measured joint torques and joint positions during the exciting trajectory are used to solve the Least Squares formulation to find physically feasible parameters. The identified parameters are validated by comparing the joint torques of the real robot with the torques of two simulations, Matlab and Gazebo.

Supervisors: Yvonne Stürz, Roy Smith


Type of Publication:

(12)Diploma/Master Thesis

R. S. Smith

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2016:IFA_5370
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