Dynamic Model of a 7-DOF Whole Arm Manipulator and Validation from Experimental Data

Zaira Pineda Rico, Andrea Lecchini-Visintini, Rodrigo Quian Quiroga

Abstract

The present paper describes the design of the dynamic model of a 7 degrees of freedom whole arm manipulator implemented in SimMechanics. The friction phenomena of the manipulator is identified, represented through a fitted model and included in the system model with the aim of increment the accuracy of the model with respect to the real system. The characteristics of the model make it suitable to test and design control strategies for motion and friction compensation in MATLAB/Simulink.

References

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Paper Citation


in Harvard Style

Pineda Rico Z., Lecchini-Visintini A. and Quian Quiroga R. (2012). Dynamic Model of a 7-DOF Whole Arm Manipulator and Validation from Experimental Data . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-22-8, pages 217-222. DOI: 10.5220/0004013002170222


in Bibtex Style

@conference{icinco12,
author={Zaira Pineda Rico and Andrea Lecchini-Visintini and Rodrigo Quian Quiroga},
title={Dynamic Model of a 7-DOF Whole Arm Manipulator and Validation from Experimental Data},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2012},
pages={217-222},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004013002170222},
isbn={978-989-8565-22-8},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Dynamic Model of a 7-DOF Whole Arm Manipulator and Validation from Experimental Data
SN - 978-989-8565-22-8
AU - Pineda Rico Z.
AU - Lecchini-Visintini A.
AU - Quian Quiroga R.
PY - 2012
SP - 217
EP - 222
DO - 10.5220/0004013002170222