Estimation of inertial parameters of manipulator loads and links
International Journal of Robotics Research
Automatica (Journal of IFAC)
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
Neuro-adaptive motion control with velocity observer in operational space formulation
Robotics and Computer-Integrated Manufacturing
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In this paper a complete and systematic procedure for the identification of the dynamic parameters of rigid robot manipulators is presented. Starting from the basic results on the subject present in the literature and on a new technique to find exciting trajectories for the estimation, the procedure is developed. A set of algorithms is provided for the implementation of the various steps of the procedure for a generic open-chain structure. The algorithms have been coded in the popular Matlab/Maple environment and the procedure has been tested in a practical case study to identify the dynamic parameters of a six-degree-of-freedom conventional industrial robot.