Identification of the barycentric parameters of robot manipulators from external measurements
نویسندگان
چکیده
-An original procedure for the estimation of the barycentric parameters of a robot is presented. This procedure requires only the processing of measurements provided by an external experimental set-up. The procedure is based on the property that the relations between the robot motion and its reactions on the bedplate are completely independent of the internal joints forces. A convincing validation experiment on a PUMA 562 is reported.
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ورودعنوان ژورنال:
- Automatica
دوره 28 شماره
صفحات -
تاریخ انتشار 1992