DocumentCode
3445300
Title
New formulas for complete determining base parameters of robots
Author
Huo, Wei
Author_Institution
Seventh Res. Div., Beijing Univ. of Aeronaut. & Astronaut., China
Volume
3
fYear
1995
fDate
21-27 May 1995
Firstpage
3021
Abstract
The determination of base parameters of robots is very important for reducing the computational burden of robot dynamics and identifying robot inertial parameters. Several methods have been proposed to directly detect base parameters with the robot geometric parameters. Among them only the recursive formulas presented by Kawasaki at el. (1991) can completely determine the base parameters. In this paper a new approach is used to solve this problem and a set of new formulas is obtained. A comparison between the new formulas and those of Kawasaki shows that the latter can be further improved and simplified
Keywords
geometry; matrix algebra; recursive estimation; robot dynamics; base parameters; inertial parameters; recursive formulas; robot dynamics; robot geometric parameters; Actuators; Aerodynamics; End effectors; Heuristic algorithms; Parallel robots; Robot kinematics; Robustness; Tensile stress;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location
Nagoya
ISSN
1050-4729
Print_ISBN
0-7803-1965-6
Type
conf
DOI
10.1109/ROBOT.1995.525713
Filename
525713
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