High speed robot holding on unknown object and driving its end effctor along a prespecified trajectory is studied. The effect of the unknown working object(load) is discussed and the dynamic equation including dynamic parameter of the unknown object is derived.
Real time estimation for parameters of the unknown object was studied and applied the 4-axis SCARA type robot.
Computer simulation shows improvement of tracking performance and position accuracy of the high speed robot which estimated parameters of object and then compensated its model based algorithm in robot controller.
