ROBOTICS AND INDUSTRIAL AUTOMATION
2 ROBOT HARDWARE AND PROGRAMMING SOFTWARE DESCRIPTION INTRODUCTION GENERAL HARDWARE DESCRIPTION GENERAL SOFTWARE CONSIDERATIONS DESCRIPTION OF OBJECTS JOINT SPACE TRAJECTORIES IMPLEMENTATION OF THE BUS ACCESS INTERFACE IN TRAJEC- TORY PLANNING FOR THE IRP-6 ROBOT DESCRIPTION OF THE PROGRAMME EXECUTING THE POLYNO- MIAL TRAJECTORIES ROBOT AN EXAMPLE OF PALLETISING VIRTUAL PROGRAMMING PANEL HARDWARE DESCRIPTION OF AN EXPERIMENTAL SET-UP CONSISTING OF A ONE LINK GEARED ROBOT FURTHER COMMENTS ON THE ROBOT PROGRAMMING SYSTEM 3 ROBOT DYNAMIC MODELS DERIVATION OF THE DI?ERENTIAL MODEL DERIVATION OF THE INTEGRAL MODEL COMPARISON OF THE DI?ERENTIAL AND INTEGRAL MODELS CANONICAL MODELS FURTHER COMMENTS ON ROBOT DYNAMICS MODELLING FOR IDENTI?- CATION OF THEIR PARAMETERS EXAMPLES OF ROBOT DYNAMICS MODELS FOR EXPERIMENTAL IDENTI- ?CATION THE EDDA DYNAMIC MODEL THE IRP-6 DYNAMIC MODEL 4 IDENTI?CATION OF ROBOT MODEL PARAMETERS LEAST SQUARES TECHNIQUE FOR THE DI?ERENTIAL MODEL IDENTI?CATION SCHEME FOR THE INTEGRAL MODEL FURTHER COMMENTS ON IDENTI?CATION TECHNIQUES USED FOR ESTI- MATION OF ROBOT DYNAMIC PARAMETERS SIMULATION RESULTS 5 EXPERIMENTAL IDENTI?CATION OF ROBOT DYNAMIC PARAMETERS OPTIMAL TRAJECTORIES FOR ROBOT DYNAMICS IDENTI?CATION INTRODUCTION: DI?ERENT OPTIMISATION TECHNIQUES OPTIMISATION PROCEDURES EXCITING TRAJECTORIES FOR THE DI?ERENTIAL AND INTEGRAL MODELS OF THE IRP-6 ROBOT FRICTION CHARACTERISTICS MEASUREMENTS FOR THE INTEGRAL MODEL TUSTIN MODEL EXPERIMENTAL FRICTION CHARACTERISTICS MEASUREMENTS FOR THE IRP-6 ROBOT EXPERIMENTAL IDENTI?CATION RESULTS FOR THE IRP-6 ROBOT EXPERIMENTAL IDENTI?CATION RESULTS FOR A ONE LINK GEARED ROBOT EXPERIMENTAL IDENTI?CATION RESULTS FOR THE EDDA ROBOT FURTHER COMMENTS ON THE EXPERIMENTAL IDENTI?CATION OF ROBOT DYNAMICS 6 LOAD DYNAMICS IDENTI?CATION MATHEMATICAL DESCRIPTION OF LOAD DYNAMIC MODELS EXCITING TRAJECTORIES FOR LOAD IDENTI?CATION STATIC LOAD PARAMETERS MEASUREMENTS DYNAMIC LOAD PARAMETERS MEASUREMENTS 7 HYBRID CONTROL OF THE IRP-6 ROBOT A HYBRID CONTROLLER FOR THE PUMA 560 ROBOT A HYBRID CONTROLLER FOR THE IRP-6 ROBOT LOCAL AND GLOBAL STI?NESS MEASUREMENT OF THE IRP-6 ROBOT A METHOD DESCRIPTION LOCAL AND GLOBAL STI?NESS CALCULATIONS EXPERIMENTAL RESULTS 8 CONCLUDING REMARKS