Accurate identification plays a pivotal role in establishing a finely tuned dynamic model for a manipulator, particularly when manufacturers provide limited data. In sophisticated robotics applications, such as minimum time and minimum energy problems, or executing impact-aware tasks, a precise dynamic model becomes essential for designing feasible movements. This paper focuses on the development of an identification procedure of the collaborative robot Mitsubishi RV-5AS-D-S01, together with some preliminary experimental data.
Static and Dynamic Identification of the Mitsubishi RV-5AS-D-S01 Robot
Dona' D.
;Boscariol P.;Bottin M.;Lenzo B.;Rosati G.
2024
Abstract
Accurate identification plays a pivotal role in establishing a finely tuned dynamic model for a manipulator, particularly when manufacturers provide limited data. In sophisticated robotics applications, such as minimum time and minimum energy problems, or executing impact-aware tasks, a precise dynamic model becomes essential for designing feasible movements. This paper focuses on the development of an identification procedure of the collaborative robot Mitsubishi RV-5AS-D-S01, together with some preliminary experimental data.
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