• DocumentCode
    2978286
  • Title

    On the identification of the inertial parameters of robots

  • Author

    Gautier, M. ; Khalil, W.

  • Author_Institution
    CNRS, Nantes, France
  • fYear
    1988
  • fDate
    7-9 Dec 1988
  • Firstpage
    2264
  • Abstract
    An algorithm is presented for the identification of the inertial parameters and friction coefficients of robots. The algorithm is not required to measure or calculate the joint accelerations. The identification model is based on the energy theorem, is linear in the robot parameters, and is easy to calculate. An example of a two-degree-of-freedom robot is presented
  • Keywords
    friction; parameter estimation; robots; energy theorem; friction coefficients; identification; inertial parameters; joint accelerations; robots; Acceleration; Computational complexity; Energy measurement; Equations; Friction; Least squares methods; Mechanical systems; Motion control; Robot kinematics; Velocity measurement;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 1988., Proceedings of the 27th IEEE Conference on
  • Conference_Location
    Austin, TX
  • Type

    conf

  • DOI
    10.1109/CDC.1988.194738
  • Filename
    194738
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2978286