Numerical calculation of the base inertial parameters of robots

DOI10.1002/ROB.4620080405MaRDI QIDQ3350865zbMATH OpenOpenAlexFDO

Authors Maxime Gautier

Publication date 1991

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rob.4620080405

zbMATH Keywords

complete dynamic modelenergy modelgraph-structured robotsminimum set of inertial parameters of robotPUMA 560 robotQR decompositionscaling procedure of matricessimplified dynamic modelSVD factorizations

Mathematics Subject Classification ID

Computational methods for problems pertaining to mechanics of particles and systems (70-08) Kinematics of mechanisms and robots (70B15)

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Cites work

• An efficient method for finding the minimum of a function of several variables without calculating derivatives
• scientific article; zbMATH DE number 3562346 (Why is no real title available?)
• The singular value decomposition: Its computation and some applications
• The use of the generalized links to determine the minimum inertial parameters of robots

Cited in

(17)

• A new method to determine the base inertial parameters of planar mechanisms
• Determination of the symbolic base inertial parameters of planar mechanisms
• Dynamic modeling and base inertial parameters determination of a 2-DOF spherical parallel mechanism
• Inverse dynamic modelling of a three-legged six-degree-of-freedom parallel mechanism
• Global identification of joint drive gains and dynamic parameters of parallel robots
• Identification of dynamic parameters of a 3-DOF RPS parallel manipulator
• The use of the generalized links to determine the minimum inertial parameters of robots
• scientific article; zbMATH DE number 4143515 (Why is no real title available?)
• An approach to the identifiable parameters of a manipulator
• scientific article; zbMATH DE number 1043060 (Why is no real title available?)
• Inertia transfer concept based general method for the determination of the base inertial parameters
• Frisch scheme identification of robots dynamic parameters
• Controller-observer design and dynamic parameter identification for model-based control of an electromechanical lower-limb rehabilitation system
• Computational Science – ICCS 2005
• Kinematics characteristics of unsprung mass in a double wishbone suspension based on velocity transformation
• Unit homogenization for estimation of inertial parameters of multibody mechanical systems
• A methodology for dynamic parameters identification of 3-DOF parallel robots in terms of relevant parameters

Describes a project that uses

Uses Software

• HSL
• Matlab
• LINPACK
• SYMORO+

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