SYMBOLIC COMPUTATION OF ROBOT DYNAMIC PARAMETERS

DOI10.1080/01969729408902349MaRDI QIDQ4698474zbMATH OpenOpenAlexFDO

Authors Peyman Kouchakpour, Albert Y. Zomaya

Publication date 6 August 1995

Published in Cybernetics and Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/01969729408902349

zbMATH Keywords

Lagrange-Euler dynamicsregression modelrobot dynamic parameterssymbolic computation

Mathematics Subject Classification ID

Symbolic computation and algebraic computation (68W30) Lagrange's equations (70H03) Control/observation systems involving computers (process control, etc.) (93C83) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• Efficient Dynamic Computer Simulation of Robotic Mechanisms
• Kinematic and kinetic analysis of open-chain linkages utilizing Newton- Euler methods

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(15)

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• Symbolic computation for mobile robot path planning
• Joint robot dynamics model identification based on artificial bee colony algorithm
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• Computer generation of symbolic kinematics for robot manipulators
• Efficient robot arm modeling for computer control
• Computer-aided-design tool for simplification of robot dynamic model based on manipulator system performance
• On a Hybrid Symbolic-Connectionist Approach for Modeling the Kinematic Robot Map - and Benchmarks for Computer Algebra
• Bayesian robot system identification with input and output noise
• Computational Science – ICCS 2005
• Determination of the dynamic parameters of the planar robot with 2 degrees of freedom by the method of least squares and instrumental variables
• Application of symbolic computation in robot pose error modelling
• Computer-assisted generation of robot dynamic models in an analytic form
• A modified homotopy optimization for parameter identification in dynamic systems with backlash discontinuity

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