Title :
Identification of the minimal knowledge of the inertia parameters of a manipulator
Author_Institution :
Inst. of Control Eng., Nat. Chiao Tung Univ., Hsinchu, Taiwan
Abstract :
Presents an off-line identification method to estimate the minimal knowledge of the inertia parameters for determining the dynamic model of a manipulator, which the author states to be superior to all the other methods in the literature.<>
Keywords :
dynamics; manipulators; parameter estimation; inertia parameters; manipulator; minimal knowledge; off-line identification method; parameter estimation; Bismuth; Control engineering; Equations; Manipulator dynamics; Microprocessors; Recursive estimation; Robot kinematics; Sampling methods; Tensile stress; Torque control;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240522
