Title :
Identification of inertial parameters of a manipulator with closed kinematic chains
Author :
Goldenberg, A.A. ; He, Xiaogeng ; Ananthanarayanan, S.P.
Author_Institution :
Dept. of Mech. Eng., Toronto Univ., Ont., Canada
Abstract :
An identification method for determining the inertial parameters of robot manipulators with closed kinematic chains is presented. The main issues are the mathematical model describing the robot system, the derivation of a dynamic model using linear combinations of the inertial parameters, and the proposed identification algorithm. An illustrating example, using the proposed method for a closed-chain direct drive arm, is included
Keywords :
control system analysis; identification; kinematics; robots; closed kinematic chains; closed-chain direct drive arm; identification; inertial parameters; manipulator; robot; Actuators; Helium; Kinematics; Manipulator dynamics; Mathematical model; Mechanical variables measurement; Regression tree analysis; Robot control; Service robots; Torque measurement;
Journal_Title :
Systems, Man and Cybernetics, IEEE Transactions on
