標題: AN IDENTIFICATION METHOD FOR ESTIMATING THE INERTIA PARAMETERS OF A MANIPULATOR
作者: LIN, SK
交大名義發表
電控工程研究所
National Chiao Tung University
Institute of Electrical and Control Engineering
公開日期: 1-六月-1992
摘要: This article presents an off-line identification method to estimate the minimal knowledge of the inertia parameters for determining the dynamic model of a manipulator. A new approach is proposed to find a set of the minimal knowledge of the inertia parameters. This set is recursively estimated by moving one joint at a time. The off-line identification procedure also provides a sufficient condition for a persistently exciting trajectory. A simulation example of Stanford arm illustrates the validity and simplicity of the identification procedure.
URI: http://hdl.handle.net/11536/3387
ISSN: 0741-2223
期刊: JOURNAL OF ROBOTIC SYSTEMS
Volume: 9
Issue: 4
起始頁: 505
結束頁: 528
顯示於類別:期刊論文


文件中的檔案:

  1. A1992HV63800004.pdf