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Comments on 'Direct calculation of minimum set of inertial parameters of serial robots'

Authors :
Fouad Bennis
Wisama Khalil
Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN)
Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN)
Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)
Source :
IEEE Transactions on Robotics and Automation, IEEE Transactions on Robotics and Automation, Institute of Electrical and Electronics Engineers (IEEE), 1994, 10 (1), pp.78-79
Publication Year :
1994
Publisher :
Institute of Electrical and Electronics Engineers (IEEE), 1994.

Abstract

The paper presented by Gautier and Khalil (see ibid., vol.6, no.3, p.368-73, 1990) gives a direct and efficient method of calculating most of the minimum inertial parameters of serial robots. Some parameters concerning the translational links between the first two rotational joints that are not parallel need particular calculation; partial results concerning the case where these links are either perpendicular or parallel are given in the above paper. This correspondence presents a direct solution of this particular case, such that all the minimum inertial parameters can be obtained directly without calculating the energy or the dynamic model of any link. >

Details

ISSN :
1042296X
Volume :
10
Database :
OpenAIRE
Journal :
IEEE Transactions on Robotics and Automation
Accession number :
edsair.doi.dedup.....9bc4e23a9dac2e8aa2144bb2a1bf2ea3
Full Text :
https://doi.org/10.1109/70.285599