基于基座力传感器机器人连杆惯性参数识别
It is dealt with a method of inertial parameters identifying of robot links based on base force sensor. 1) According to Newton-Euler formula, steps of the method are put forward, and for the reason of simplification, a static method of identifying the mass and the three-dimensional coordinates of li...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2006-01-01
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| Series: | Jixie chuandong |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2006.06.006 |
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| Summary: | It is dealt with a method of inertial parameters identifying of robot links based on base force sensor. 1) According to Newton-Euler formula, steps of the method are put forward, and for the reason of simplification, a static method of identifying the mass and the three-dimensional coordinates of links’ mass center is investigated. 2) A simulation of a two links’ robot shows that the method is effective. The inertial parameters obtained by using the given method include the joint’s characteristics of robot ,so the joint’s characteristics modeling is doesn’t needed. |
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| ISSN: | 1004-2539 |