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

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

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Paper

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

Topics: Modeling, Simulation and Architecture; Robot Design, Development and Control

In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 217-222, 2012 , Rome, Italy

Authors: Zaira Pineda Rico ; Andrea Lecchini-Visintini and Rodrigo Quian Quiroga

Affiliation: University of Leicester, United Kingdom

Keyword(s): Whole Arm Manipulator Model, Friction Model, Friction Identification.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Modeling, Simulation and Architectures ; Robot Design, Development and Control ; Robotics and Automation

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.

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Paper citation in several formats:

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; ISSN 2184-2809, SciTePress, pages 217-222. DOI: 10.5220/0004013002170222

@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},
issn={2184-2809},
}

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
IS - 2184-2809
AU - Pineda Rico, Z.
AU - Lecchini-Visintini, A.
AU - Quian Quiroga, R.
PY - 2012
SP - 217
EP - 222
DO - 10.5220/0004013002170222
PB - SciTePress