Identification of Robot Dynamics: A Parallel Processing Approach

摘要: Knowledge of the exact characteristics robot manipulators is one most significant factors in designing motion control systems, since performance directly dependant upon accuracy dynamic model. Dynamic models normally have complicated behaviour, including varying inertia depending arm configuration, uncertain load effects, non-linear effects such as Coriolis and Centripetal forces interactions among joints. Unless these are included manipulator dynamics exactly, controller not expected to meet given requirements. This necessitates development an efficient method identify parameters arms. paper will describe on-line estimation link inertial using a semi-customised symbolic representation equations based on Lagrangian formulation........