Estimation of Inertial Parameters of Rigid Body Links of Manipulators
A method of estimating the mass, the location of center of mass, and the moments of inertia of each rigid body link of a robot during general manipulator movement is presented. The algorithm is derived from the Newton-Euler equations, and uses measurements of the joint torques as well as the me...
| Главные авторы: | , , |
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| Язык: | en_US |
| Опубликовано: |
2004
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| Предметы: | |
| Online-ссылка: | http://hdl.handle.net/1721.1/5604 |