Compound Identification of Model Parameters for 6 D.O.F. Manipulators and Model Based Trajectory Control

Abstract: We will present the identification of a dynamic model of a 6 D.O.F. manipulator and its model based trajectory control. First, dynamic model of a manipulator with 6 D.O.F. open loop mechanism is estimated using compound method. Next, the trajectory control based on the estimated dynamic model is implemented on a manipulator. Experimental results are shown to demonstrate the effectiveness of the model based trajectory control.

Keywords: dynamic model, manipulator, identification, model based trajectory control