Identifying the independent inertial parameter space of robot manipulators
作者： Shih-Ying Sheu , Michael W. Walker
DOI: 10.1177/027836499101000606
关键词: Robot manipulator 、 Differential equation 、 Graph (abstract data type) 、 Serial communication 、 Equations of motion 、 Robotics 、 Mathematics 、 Inertial frame of reference 、 Artificial intelligence 、 Control theory 、 Parameter space
摘要: This paper presents a new approach to the problem of finding minimum number inertial parameters robot manipulator dynamic equations motion. Based upon energy difference equation, it is equally applica ble serial link manipulators as well graph structured manipulators. The method conceptually simple, compu tationally efficient, and easy implement. In particular, kinematics joint positions velocities are only inputs algorithm. Applica tions illustrated.
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