Numerical calculation of the base inertial parameters of robots
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Publication:3350865
DOI10.1002/ROB.4620080405zbMath0727.70006OpenAlexW2169017219MaRDI QIDQ3350865
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
QR decompositionenergy modelcomplete dynamic modelgraph-structured robotsminimum set of inertial parameters of robotPUMA 560 robotscaling procedure of matricessimplified dynamic modelSVD factorizations
Computational methods for problems pertaining to mechanics of particles and systems (70-08) Kinematics of mechanisms and robots (70B15)
Related Items (10)
Controller–observer design and dynamic parameter identification for model-based control of an electromechanical lower-limb rehabilitation system ⋮ Frisch Scheme Identification of Robots Dynamic 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 ⋮ Inverse dynamic modelling of a three-legged six-degree-of-freedom parallel mechanism ⋮ 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 ⋮ 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 ⋮ Global identification of joint drive gains and dynamic parameters of parallel robots
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