標題: MINIMAL LINEAR-COMBINATIONS OF THE INERTIA PARAMETERS OF A MANIPULATOR
作者: LIN, SK
電控工程研究所
Institute of Electrical and Control Engineering
公開日期: 1-六月-1995
摘要: This paper deals with the problem of identifying the inertia parameters of a manipulator, We begin by introducing the terminology of minimal linear combinations of the inertia parameters (MLC's) that are linearly independent of one another and determine the manipulator dynamics while keeping the number of linear combinations of the inertia parameters to a minimum, The problem is then to find an identification procedure for estimating the MLC's and to use the MLC's in the inverse dynamics for control. The recursive Newton-Euler formulation is rederived in terms of the MLC's. The resulting formulation is almost as efficient as the most efficient formulation in the literature. This formulation also provides a starting point from which to derive a recursive identification procedure, The identification procedure is simple and efficient, since it does not require symbolic closed-form equations and it has a recursive structure. The three themes concerning the dynamic modeling of a manipulator-the MLC's, the inverse dynamics in terms of the MLC's, and the identification procedure-are treated in sequence in this paper.
URI: http://dx.doi.org/10.1109/70.388778
http://hdl.handle.net/11536/1890
ISSN: 1042-296X
DOI: 10.1109/70.388778
期刊: IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
Volume: 11
Issue: 3
起始頁: 360
結束頁: 373
顯示於類別:期刊論文


文件中的檔案:

  1. A1995RC43400005.pdf