Modelling and identification of a six axes industrial robot

摘要: This paper deals with the modelling and identification of a six axes industrial St ¨aubli RX90 robot. A non-linear finite element method is used to generate dynamic equations motion in form suitable for both simulation identification. The latter requires that are linear inertia parameters. Joint friction described by model describes behaviour full velocity range necessary Experimental parameter means least squares techniques showed be very suited unknown parameters, provided problem properly scaled influence disturbances sufficiently analysed managed. An analysis singular value decomposition preferred as it not only solves rank deficiency, but also can correctly deal measurement noise unmodelled dynamics.