Identifying mass parameters for gravity compensation and automatic torque sensor calibration
نویسندگان
چکیده
This paper presents a new and simple procedure to identify link mass parameters used for gravity compensation and on-line automatic torque sensor calibration for a robot manipulator. The approach employs single-joint rotation and a recursive procedure that proceeds distally to proximally to identify composite mass moments. Experimental results are presented for the Sar-cos Dextrous Arm.
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