• DocumentCode
    1401402
  • Title

    Direct calculation of minimum set of inertial parameters of serial robots

  • Author

    Gautier, M. ; Khalil, W.

  • Author_Institution
    Lab. d´´Autom., CNRS, Nantes, France
  • Volume
    6
  • Issue
    3
  • fYear
    1990
  • fDate
    6/1/1990 12:00:00 AM
  • Firstpage
    368
  • Lastpage
    373
  • Abstract
    The determination of the minimum set of inertial parameters of robots contributes to the reduction of the computational cost of the dynamic models and simplifies the identification of the inertial parameters. These parameters can be obtained from the classical inertial parameters by eliminating those that have no effect on the dynamic model and by regrouping some others. A direct method is presented for determining the minimum set of inertial parameters of serial robots. The method permits determination of most of the regrouped parameters by means of closed-form relations
  • Keywords
    identification; robots; closed-form relations; dynamic models; identification; inertial parameters; minimum set; serial robots; Closed-form solution; Computational efficiency; Gravity; Lagrangian functions; Parallel robots; Robot control; Robot kinematics; Robotics and automation; Robustness;
  • fLanguage
    English
  • Journal_Title
    Robotics and Automation, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    1042-296X
  • Type

    jour

  • DOI
    10.1109/70.56655
  • Filename
    56655
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1401402