Method of identifying inertial parameters of manipulator based on wrist force sensor

被引：0
|
作者：
Chen, En-Wei
Liu, Zheng-Shi
Gan, Fang-Jian
机构：
[1] Institute of Sound and Vibration Engineering, School of Mechanical and Automotive Engineering, Hefei University of Technology, Hefei 230009, China
[2] Department of Modern Mechanics, University of Science and Technology of China, Hefei 230052, China
来源：
Jiqiren/Robot | 2006年 / 28卷 / 02期
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中图分类号：
学科分类号：
摘要：
For structure design and dynamic control of industrial robots, without using the base force sensor that is required in existing methods, a method is proposed that takes full advantage of the signals from wrist force sensor, applies the recursion equations of kinematics and dynamics, and deduces the converse inertial parameters identification model of ail links by Newton-Euler formula. An example is given to explain the application of the method. The theoretical basis is offered for dynamic modeling of manipulator.
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页码：125 / 129
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