Numerical calculation of the base inertial parameters of robots

DOI10.1002/ROB.4620080405zbMATH Open0727.70006OpenAlexW2169017219MaRDI QIDQ3350865FDOQ3350865

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

QR decompositionenergy modelcomplete dynamic modelgraph-structured robotsminimum set of inertial parameters of robotPUMA 560 robotscaling procedure of matricessimplified dynamic modelSVD factorizations

Mathematics Subject Classification ID

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

Recommendations

• The use of the generalized links to determine the minimum inertial parameters of robots
• Determination of the symbolic base inertial parameters of planar mechanisms
• Inertia transfer concept based general method for the determination of the base inertial parameters
• Publication:3474932
• A new method to determine the base inertial parameters of planar mechanisms

Cites work

• scientific article; zbMATH DE number 3562346 (Why is no real title available?)
• An efficient method for finding the minimum of a function of several variables without calculating derivatives
• 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

(15)

• Controller-observer design and dynamic parameter identification for model-based control of an electromechanical lower-limb rehabilitation system
• A methodology for dynamic parameters identification of 3-DOF parallel robots in terms of relevant parameters
• Determination of the symbolic base inertial parameters of planar mechanisms
• Dynamic modeling and base inertial parameters determination of a 2-DOF spherical parallel mechanism
• scientific article; zbMATH DE number 4143515 (Why is no real title available?)
• An approach to the identifiable parameters of a manipulator
• Unit homogenization for estimation of inertial parameters of multibody mechanical systems
• Frisch scheme identification of robots dynamic parameters
• 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
• Inertia transfer concept based general method for the determination of the base inertial parameters
• A new method to determine the base inertial parameters of planar mechanisms
• Computational Science – ICCS 2005
• The use of the generalized links to determine the minimum inertial parameters of robots

Describes a project that uses

Uses Software

• HSL
• Matlab
• LINPACK
• SYMORO+

This page was built for publication: Numerical calculation of the base inertial parameters of robots

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q3350865)