DocumentCode :
290724
Title :
Determination of the minimum set of parameters of flexible robots with rigid solids attached to the links
Author :
Depince, Ph ; Chedmail, P. ; Bennis, F.
Author_Institution :
Lab. d´´Autom., CNRS, Nantes, France
fYear :
1993
fDate :
17-20 Oct 1993
Firstpage :
583
Abstract :
The object of this paper is to determine the minimum set of parameters of flexible robots with rigid solids attached to the links. The existence of a minimum set of parameters is proved by the use of a symbolic method. The determination of this minimum set increases the robustness of the identification process. A sufficient condition which insures the minimality of the standard parameters is given. This condition depends on the number and the choice of the eigenfunctions if the model derives from an assumed modes method and of the shape functions if the model derives from a finite elements method. In the case of robots whose links are all flexible, we demonstrate the only possible regroupings of parameters are obtained with parameters belonging to the same link
Keywords :
flexible structures; robots; symbol manipulation; eigenfunctions; flexible robots; identification; minimum parameters set; regroupings; rigid solids; shape functions; symbolic method; Computational efficiency; Error correction; Finite element methods; Random sequences; Robot control; Robustness; Shape; Solids; Sufficient conditions;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Systems, Man and Cybernetics, 1993. 'Systems Engineering in the Service of Humans', Conference Proceedings., International Conference on
Conference_Location :
Le Touquet
Print_ISBN :
0-7803-0911-1
Type :
conf
DOI :
10.1109/ICSMC.1993.390777
Filename :
390777
Link To Document :
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