DocumentCode
779429
Title
Identification of inertial parameters of a manipulator with closed kinematic chains
Author
Goldenberg, A.A. ; He, Xiaogeng ; Ananthanarayanan, S.P.
Author_Institution
Dept. of Mech. Eng., Toronto Univ., Ont., Canada
Volume
22
Issue
4
fYear
1992
Firstpage
799
Lastpage
805
Abstract
An identification method for determining the inertial parameters of robot manipulators with closed kinematic chains is presented. The main issues are the mathematical model describing the robot system, the derivation of a dynamic model using linear combinations of the inertial parameters, and the proposed identification algorithm. An illustrating example, using the proposed method for a closed-chain direct drive arm, is included
Keywords
control system analysis; identification; kinematics; robots; closed kinematic chains; closed-chain direct drive arm; identification; inertial parameters; manipulator; robot; Actuators; Helium; Kinematics; Manipulator dynamics; Mathematical model; Mechanical variables measurement; Regression tree analysis; Robot control; Service robots; Torque measurement;
fLanguage
English
Journal_Title
Systems, Man and Cybernetics, IEEE Transactions on
Publisher
ieee
ISSN
0018-9472
Type
jour
DOI
10.1109/21.156591
Filename
156591
Link To Document