DIRECT CALCULATION OF MINIMUM SET OF INERTIAL PARAMETERS OF SERIAL ROBOTS

被引：248

作者：

GAUTIER, M

KHALIL, W

机构：

[1] Laboratoire d'Automatique de Nantes URA C.N.R.S., E.N.S.M., Nantes

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1990年 / 6卷 / 03期

关键词：

D O I：

10.1109/70.56655

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The determination of the minimum set of inertial parameters of robots contributes to the reduction of the computational cost of the dynamic models and simplifies the identification of the inertial parameters. These parameters can be obtained from the classical inertial parameters by eliminating those that have no effect on the dynamic model and by regrouping some others. This paper presents a direct method of determining the minimum set of inertial parameters of serial robots. The given method permits determination of most of the regrouped parameters by means of closed-form relations. © 1990 IEEE

引用

页码：368 / 373

页数：6