Verification of a mass model of a robot manipulator

摘要

The invention relates to a method for verifying a mass model of a robot manipulator (1), with the following steps: - Carrying out (S1) a system identification to determine the mass model, - Providing (S2) the estimate of the local gravity vector, - Moving (S3) the robot manipulator ( 1) to a large number of predetermined locations, - control (S4) of actuators (3) of the robot manipulator (1) with a pre-control signal of a gravity compensation based on the mass model and the estimation of the gravity vector, - determination (S5) of a derivative of the position of the robot manipulator ( 1) by a sensor unit (7), - checking (S6) whether a derivation of the position of the reference point unequal to zero occurs at each of the predetermined locations, and- executing (S7) a predetermined reaction if a derivation of the reference point unequal to zero occurs.