Numerical calculation of the base inertial parameters of robots
作者： M. Gautier
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摘要: This article presents a new approach to the problem of determining minimum set inertial parameters robots. The calculation is based on numerical QR and SVD factorizations scaling procedure matrices. It proceeds in three steps: eliminate standard which have no effect dynamic model, determine number base parameters, and determine by regrouping some others linear relations. Different models, are used: complete model, simplified an energy model. method general, it can be applied open loop, or graph-structured algorithms easy implement. An application for PUMA 560 robot given.
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