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dc.contributor.author
Stürz, Yvonne R.
dc.contributor.author
Affolter, Lukas M.
dc.contributor.author
Smith, Roy
dc.contributor.editor
Dochain, Denis
dc.contributor.editor
Henrion, Didier
dc.contributor.editor
Peaucelle, Dimitri
dc.date.accessioned
2021-07-28T06:20:06Z
dc.date.available
2017-10-29T02:34:51Z
dc.date.available
2017-11-29T11:19:04Z
dc.date.available
2018-01-29T12:59:25Z
dc.date.available
2018-01-22T11:10:20Z
dc.date.available
2018-01-29T12:58:13Z
dc.date.available
2018-08-31T12:49:42Z
dc.date.available
2021-03-24T13:45:59Z
dc.date.available
2021-03-25T06:11:18Z
dc.date.available
2021-07-28T06:20:06Z
dc.date.issued
2017-07
dc.identifier.issn
2405-8963
dc.identifier.other
10.1016/j.ifacol.2017.08.1208
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/237831
dc.identifier.doi
10.3929/ethz-b-000237831
dc.description.abstract
The newly released KUKA LBR iiwa R820 robot stands for intelligent industrial work assistant (iiwa) and is, like its predecessor LBR IV, equipped with torque sensors in each joint, and can be controlled through a real-time interface. Although the dynamic model of the robot is not published by the manufacturer, its knowledge is indispensible for simulation and control based on the system model. This paper presents the identification of the minimal set of base parameters, as well as a consistent set of physical parameters, which are required for stable dynamic simulations, are identified by solving a nonlinear optimization problem, where constraints are included to ensure physical feasibility. A validation and cross-validation in simulation and experiments show a very accurate representation of the robot's dynamics by the resulting models. As a result, both sets of identified parameters are given.
en_US
dc.format
application/pdf
en_US
dc.language.iso
en
en_US
dc.publisher
Elsevier
en_US
dc.rights.uri
http://rightsstatements.org/page/InC-NC/1.0/
dc.subject
Robots manipulators
en_US
dc.subject
parameter identification
en_US
dc.subject
constrained parameters
en_US
dc.subject
robot dynamics
en_US
dc.subject
industrial robots
en_US
dc.title
Parameter identification of the KUKA LBR iiwa robot including constraints on physical feasibility
en_US
dc.type
Conference Paper
dc.rights.license
In Copyright - Non-Commercial Use Permitted
dc.date.published
2017-10-18
ethz.book.title
20th IFAC World Congress. Proceedings
en_US
ethz.journal.title
IFAC-PapersOnLine
ethz.journal.volume
50
en_US
ethz.journal.issue
1
en_US
ethz.pages.start
6863
en_US
ethz.pages.end
6868
en_US
ethz.size
6 p.
en_US
ethz.version.deposit
publishedVersion
en_US
ethz.event
20th IFAC World Congress (IFAC 2017)
en_US
ethz.event.location
Toulouse, France
en_US
ethz.event.date
July 9-14, 2017
en_US
ethz.notes
The newly released KUKA LBR iiwa 14 R820 robot stands for intelligent industrial work assistant (iiwa) and is, like its predecessor LBR IV, equipped with torque sensors in each joint, and can be controlled through a real-time interface. Although the dynamic model of the robot is not published by the manufacturer, its knowledge is indispensable for simulation and control based on the system model. This paper presents the identification of the minimal set of base parameters, as well as a consistent set of physical parameters for a rigid-link model of the KUKA LBR iiwa 14 R820 robot, including friction. The experiments on the robot are conducted based on optimized excitation trajectories. The physical parameters, which are required for stable dynamic simulations, are identified by solving a nonlinear optimization problem, where constraints are included to ensure physical feasibilty. A validation and cross-validation in simulation and experiments show a very accurate representation of the robot’s dynamics by the resulting models. As a result, both sets of identified parameters are given.
en_US
ethz.grant
Digital Fabrication - Advanced Building Processes in Architecture
en_US
ethz.identifier.scopus
ethz.publication.place
Kidlington
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02140 - Dep. Inf.technologie und Elektrotechnik / Dep. of Inform.Technol. Electrical Eng.::02650 - Institut für Automatik / Automatic Control Laboratory::08814 - Smith, Roy (Tit.-Prof.)
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02140 - Dep. Inf.technologie und Elektrotechnik / Dep. of Inform.Technol. Electrical Eng.::02650 - Institut für Automatik / Automatic Control Laboratory::08814 - Smith, Roy (Tit.-Prof.)
en_US
ethz.grant.agreementno
141853
ethz.grant.fundername
SNF
ethz.grant.funderDoi
10.13039/501100001711
ethz.grant.program
NCCR (NFS)
ethz.date.deposited
2017-10-29T02:34:56Z
ethz.source
SCOPUS
ethz.source
BATCH
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2018-01-31T16:11:00Z
ethz.rosetta.lastUpdated
2022-03-29T10:45:16Z
ethz.rosetta.versionExported
true
dc.identifier.olduri
http://hdl.handle.net/20.500.11850/201995
dc.identifier.olduri
http://hdl.handle.net/20.500.11850/232172
ethz.COinS
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