Abstract

A direct method is presented to determine the minimum set of inertial parameters of robots. The set consists of the classical parameters that affect the dynamic model and the regrouped parameters. The method permits to most of the regrouped parameters to be determined by means of a closed-form function of the geometric parameters of the robot. It is proved that the minimum number of inertial parameters is less than 7n-4, where n is the number of joints. The method is general whatever the values of the geometric parameters. The method can be extended to tree structure robots and will be integrated into the software package SYMORO. >

Full Text
Paper version not known

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.