IEEE Transactions on Robotics and Automation · 1990 · 392 citations · 15 references
EngineeringMechanical EngineeringRobotics EngineeringRobot DynamicsRobot KinematicsRoboticsKinematic ModelingKinematicsManipulator DynamicsRobot ManipulatorsSerial Robot KinematicsSystem IdentificationDynamic Model IdentificationDynamic ModelsDynamics Of Serial ManipulatorsInertia Parameter IdentificationInertial Parameter EstimationParameter IdentificationRobot Inertial Parameter IdentificationSerial Manipulator Dynamics
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.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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Parameter identification of robot dynamics
Pradeep K. Khosla, Takeo Kanade · 1985 · 375 citations
Engineering, Mechanical Engineering, Robotics Engineering +16