• DocumentCode
    1386242
  • Title

    Minimum inertial parameters of robots with parallelogram closed loops

  • Author

    Bennis, F. ; Khalil, W.

  • Author_Institution
    Ecole Nat. Superieure de Mecanique, Nantes, France
  • Volume
    21
  • Issue
    2
  • fYear
    1991
  • Firstpage
    318
  • Lastpage
    326
  • Abstract
    A symbolic method to determine the minimum set of inertial parameters of robots containing parallelogram closed loops is presented. The solution is obtained by determining the minimum inertial parameters of an equivalent tree structure. Then, the constraint equations of the closed loops are taken into account to get the global minimum inertial parameters. Direct general relations are obtained for the two steps
  • Keywords
    robots; trees (mathematics); equivalent tree structure; minimum inertial parameters; parallelogram closed loops; Computational efficiency; End effectors; Equations; Parallel robots; Robot kinematics; Robotics and automation; Robustness; Tree data structures;
  • fLanguage
    English
  • Journal_Title
    Systems, Man and Cybernetics, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    0018-9472
  • Type

    jour

  • DOI
    10.1109/21.87080
  • Filename
    87080
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1386242