제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Method for Measuring Nonlinear Characteristics of a Robot Manipulator Having Two-degree-of-freedom

  • Harada, H. (Graduate School of Science and Technology, Kumamoto University) ;
  • Toyozawa, Y. (FANUC Corp., Kyushu Branch Office) ;
  • Kashiwagi, H. (Kumamoto Study Center, The University of the Air)
  • Published : 2005.06.02
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Abstract

The authors have recently developed a method for identification of Volterra kernels of nonlinear systems by using M-sequence and correlation technique. In this paper, we apply the proposed method to identification of a robot manipulator which has two degrees of freedom. From the results of the experiment, the nonlinear characteristics of the robot manipulator can be identified by the proposed method.

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