Compound Identification of Model Parameters for 6 D.O.F. Manipulators
and Model Based Trajectory Control
Abstract: We will present the identification of a dynamic model of a 6
D.O.F. manipulator and its model based trajectory control. First,
dynamic model of a manipulator with 6 D.O.F. open loop mechanism is
estimated using compound method. Next, the trajectory control based
on the estimated dynamic model is implemented on a manipulator.
Experimental results are shown to demonstrate the effectiveness of the
model based trajectory control.
Keywords: dynamic model, manipulator, identification, model based
trajectory control