An efficient algorithm for generating manipulator inertia matrix using the minimum set of dynamics parameters
Copyright policy )An efficient algorithm for generating manipulator inertia matrix using the minimum set of dynamics parameters
An efficient algorithm for computing the inertia matrix of rigid serial manipulators is presented using the minimum set of dynamic parameters. It is based on the closed-form formulation of the force and moment exerted on a link, and can be extended easily to a tree structure mechanism. The minimum set of dynamic parameters can be derived completely from the original dynamic parameters using the recursive regrouping method before starting the simulation and control. The proposed computation model is suitable for the control and for the simulation based on parameter estimates because the minimum set of dynamic parameters is an identifiable parameter set. It is shown that the proposed method is the most efficient for serial manipulators, with rotational and translational joints. Moreover, this method has a greater efficiency for the model-based adaptive control and for the real time simulation with parameter estimates because dynamic parameters from the minimum set are all identifiable parameters.
- Gifu University Japan
- Kanazawa Institute of Technology Japan
model-based adaptive control, Control of mechanical systems, Automated systems (robots, etc.) in control theory, identifiable parameter set, Computational methods for problems pertaining to mechanics of particles and systems, recursive regrouping method, parameter estimates, real time simulation, Kinematics of mechanisms and robots, serial manipulators
model-based adaptive control, Control of mechanical systems, Automated systems (robots, etc.) in control theory, identifiable parameter set, Computational methods for problems pertaining to mechanics of particles and systems, recursive regrouping method, parameter estimates, real time simulation, Kinematics of mechanisms and robots, serial manipulators
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