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Comments on 'Direct calculation of minimum set of inertial parameters of serial robots'
- 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. >
- Subjects :
- 0209 industrial biotechnology
Inertial frame of reference
Computer science
base parameters
02 engineering and technology
dynamic identification
Dynamic model
[SPI.AUTO]Engineering Sciences [physics]/Automatic
Set (abstract data type)
020901 industrial engineering & automation
Control and Systems Engineering
Control theory
minimum parameters
0202 electrical engineering, electronic engineering, information engineering
Robot
020201 artificial intelligence & image processing
Electrical and Electronic Engineering
Link (knot theory)
Energy (signal processing)
Subjects
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