Kinematic-Chain of an Industrial Robot and Its Torque Identification for Gravity Compensation
نویسندگان
چکیده
In this paper, an experimental method is proposed to identify the relationship between the actuator space and joint space of an industrial robot, KUKA KR5. The mathematical model in the form of matrix relating the actuator and joint space is termed as “structure matrix”. This matrix is useful in identifying the robot’s architecture for the transfer of motion. Further, the torques required to balance the robot against gravity was identified through Fourier series fit. For that, only the joints that are orthogonal to the gravity direction were considered as they influence the most. The identified joint torques were validated by considering different trajectories than those used to identify the necessary coefficients of the Fourier series. Keywords— Kinematic chain, Actuator and Joint spaces, Structure Matrix, Gravity Torque Identification
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