Show simple item record

dc.contributor.authorAn, Chae H.en_US
dc.contributor.authorAtkeson, Christopher G.en_US
dc.contributor.authorHollerbach, John M.en_US
dc.date.accessioned2004-10-01T20:10:38Z
dc.date.available2004-10-01T20:10:38Z
dc.date.issued1986-02-01en_US
dc.identifier.otherAIM-887en_US
dc.identifier.urihttp://hdl.handle.net/1721.1/5604
dc.description.abstractA method of estimating the mass, the location of center of mass, and the moments of inertia of each rigid body link of a robot during general manipulator movement is presented. The algorithm is derived from the Newton-Euler equations, and uses measurements of the joint torques as well as the measurement and calculation of the kinematics of the manipulator while it is moving. The identification equations are linear in the desired unknown parameters, and a modified least squares algorithm is used to obtain estimates of these parameters. Some of the parameters, however, are not identifiable due to restricted motion of proximal links and the lack of full force/torque sensing. The algorithm was implemented on the MIT Serial Link Direct Drive Arm. A good match was obtained between joint torques predicted from the estimated parameters and the joint torques computed from motor currents.en_US
dc.format.extent18 p.en_US
dc.format.extent1516220 bytes
dc.format.extent1175282 bytes
dc.format.mimetypeapplication/postscript
dc.format.mimetypeapplication/pdf
dc.language.isoen_US
dc.relation.ispartofseriesAIM-887en_US
dc.subjectroboticsen_US
dc.subjectmanipulator dynamicsen_US
dc.subjectlink identificationen_US
dc.subjectsmanipulator controlen_US
dc.titleEstimation of Inertial Parameters of Rigid Body Links of Manipulatorsen_US


Files in this item

Thumbnail
Thumbnail

This item appears in the following Collection(s)

Show simple item record