A general method for estimating dynamic parameters of spatial mechanisms (Q1286725)
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scientific article; zbMATH DE number 1281526
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| English | A general method for estimating dynamic parameters of spatial mechanisms |
scientific article; zbMATH DE number 1281526 |
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A general method for estimating dynamic parameters of spatial mechanisms (English)
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29 April 1999
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This paper presents a technique for estimating dynamic parameters in spatial mechanisms using any joint type, based on measurements of displacements, velocities and accelerations, and external forces and torques. A form of the equations of spatial motion is derived, which is linear in the dynamic parameters and is based on a multibody simulation code. Then we use singular value decomposition to find the essential parameter set, and minimum parameter set. It is shown that a simulation of a four-bar mechanism (with spherical, universal, and revolute joints), based on the estimated parameters, gives an accurate response.
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multibody simulation code
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singular value decomposition
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essential parameter set
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minimum parameter set
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four-bar mechanism
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0.8173968195915222
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0.7340738773345947
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0.7246533632278442
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0.7229099273681641
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