Title :
Minimum inertial parameters of robots with parallelogram closed loops
Author :
Bennis, F. ; Khalil, W.
Author_Institution :
Ecole Nat. Superieure de Mecanique, Nantes, France
Abstract :
A symbolic method to determine the minimum set of inertial parameters of robots containing parallelogram closed loops is presented. The solution is obtained by determining the minimum inertial parameters of an equivalent tree structure. Then, the constraint equations of the closed loops are taken into account to get the global minimum inertial parameters. Direct general relations are obtained for the two steps
Keywords :
robots; trees (mathematics); equivalent tree structure; minimum inertial parameters; parallelogram closed loops; Computational efficiency; End effectors; Equations; Parallel robots; Robot kinematics; Robotics and automation; Robustness; Tree data structures;
Journal_Title :
Systems, Man and Cybernetics, IEEE Transactions on
